Melfa Industrial Robot

Global Partner. Local Friend.
MELFA
Industrial Robots
Consistent Quality –
Precise Control
EUROPEAN BRANCHES EUROPEAN REPRESENTATIVES

MITSUBISHI ELECTRIC EUROPE B.V. GERMANY GEVA AUSTRIA Beijer Electronics OY FINLAND Beijer Electronics AS NORWAY INEA d.o.o. SLOVENIA GTS TURKEY ILAN & GAVISH Ltd. ISRAEL
Gothaer Straße 8 Wiener Straße 89 Peltoie 37 Postboks 487 Stegne 11 Bayraktar Bulvari Nutuk Sok. No:5 24 Shenkar St., Kiryat Arie
D-40880 Ratingen AT-2500 Baden FIN-28400 Ulvila NO-3002 Drammen SI-1000 Ljubljana TR-34775 Yukarı İSTANBUL IL-49001 Petah-Tiqva
Phone: +49 (0)2102/486-0 Phone: +43 (0)2252/85 55 20 Phone: +358 (0)207/463 540 Phone: +47 (0)32/24 30 00 Phone: +386 (0)1/513 8100 Phone: +90 (0)216 526 39 90 Phone: +972 (0)3/922 18 24
MITSUBISHIELECTRICEUROPEB.V. CZECH REPUBLIC Koning & Hartman b.v. BELGIUM UTECO A.B.E.E. GREECE SIRIUS T & S SRL ROMANIA Beijer Electronics AB SWEDEN CSC Automation Ltd. UKRAINE CBI Ltd. SOUTH AFRICA
Radlická 714/113a Woluwelaan 31 5, Mavrogenous Str. Aleea Lacul Morii Nr. 3 Box 426 4-B, M. Raskovoyi St. Private Bag 2016
CZ-158 00 Praha 5 BE-1800 Vilvoorde GR-18542 Piraeus RO-060841 Bucuresti, Sector 6 SE-20124 Malmö UA-02660 Kiev ZA-1600 Isando
Phone: +420 - 251 551 470 Phone: +32 (0)2/257 02 40 Phone: +30 211/1206 900 Phone: +40 (0)21/430 40 06 Phone: +46 (0)40/35 86 00 Phone: +380 (0)44/494 33 55 Phone: 27 (0)11/977 0770
MITSUBISHI ELECTRIC EUROPE B.V. FRANCE INEA BH d.o.o. BOSNIA AND HERZEG. AXICONT AUTOMATIKA KFT. HUNGARY INEA SR d.o.o. SERBIA Robotronic AG SWITZERLAND
25, Boulevard des Bouvets Aleja Lipa 56 (ROBOT CENTER) Reitter F. U. 132 Izletnicka 10 Schlachthofstrasse 8
F-92741 Nanterre Cedex BA-71000 Sarajevo HU-1131 Budapest SER-113000 Smederevo CH-8406 Winterthur
Phone: +33 (0)1/55 68 55 68 Phone: +387 (0)33/921 164 Phone: +36 1/412-0882 Phone: +381 (0)26/617 163 Phone: +41 (0 52) 26 70 200
MITSUBISHI ELECTRIC EUROPE B.V. ITALY AKHNATON BULGARIA ALFATRADE Ltd. MALTA CS MTrade Slovensko, s.r.o SLOVAKIA
Viale Colleoni 7 4 Andrej Ljapchev Blvd. Pb 21 99, Paola Hill Vajanskeho 58
I-20041 Agrate Brianza (MB) BG-1756 Sofia Malta-Paola PLA 1702 SK-92101 Piestany
Phone: +39 039/60 53 1 Phone: +359 (0)2/817 6004 Phone: +356 (0)21/697 816 Phone: +421 (0)33/7742 760
MITSUBISHI ELECTRIC EUROPE B.V. POLAND AutoCont C.S. s.r.o. CZECH REPUBLIC HIFLEXAUTOM.B.V. NETHERLANDS
Krakowska 50 Technologická 374/6 Wolweverstraat 22
PL-32-083 Balice CZ-708 00 Ostrava-Pustkovec NL-2984 CD Ridderkerk
Phone: +48 (0)12/630 47 00 Phone: +420 595 691 150 Phone: +31 (0)180 – 46 60 04
MITSUBISHI ELECTRIC EUROPE B.V. SPAIN B:ELECTRIC, s.r.o. CZECH REPUBLIC Koning&Hartmanb.v. NETHERLANDS
Carretera de Rubí 76-80 Mladoboleslavská 812 Haarlerbergweg 21-23
E-08190 Sant Cugat del Vallés (Barcelona) CZ-197 00 Praha 19 - Kbely NL-1101 CH Amsterdam
Phone: 902 131121 // +34 935653131 Phone: +420 286 850 848 Phone: +31 (0)20/587 76 00
MITSUBISHI ELECTRIC EUROPE B.V. UK Beijer Electronics A/S DENMARK
Travellers Lane Lykkegårdsvej 17
UK-Hatfield, Herts. AL10 8XB DK-4000 Roskilde
Phone: +44 (0)1707/27 61 00 Phone: +45 (0)46/ 75 76 66
Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany
Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// info@mitsubishi-automation.com /// www.mitsubishi-automation.com
Specifications subject to change /// Art. no. 203684-D /// 10.2010
All trademarks and copyrights acknowledged.
MELFA Industrial robots /// MELFA Industrial robots /// MELFA Industrial robots /// MELF Automation solutions /// Automation solutions /// Automation solutions /// Automation
MELFA Industrial Robots A world of

Robots from € 1.65/hr
automation solutions
Calculated on the basis of their average service life,
around 6–7 years in typical applications, Mitsubishi The robots have hollow shaft
Robots
robots have a surprisingly low total cost of ownership motors and transmissions for
at around 1.65/h per hour for both purchasing and maximum rigidity.
operation. Motion control and servos
Inverters
LV circuit protection
Laser machines
The high-precision Harmonic

Drive transmission helps to
provide exceptional
repeatability performance.
More than
30,000 applications CNC
controllers HMI and GOTs
Modern automation technology from Mitsubishi Elec-

tric is helping to power technological progress and
business success all over the world. Since 1978,
Mitsubishi’s small industrial robots have been
installed in over 30,000 applications in a huge diver- EDM machines
sity of fields. Micro PLCs
Modular PLCs
Mitsubishi offer a wide range of automation equipment from PLCs and HMIs to CNC and EDM machines
This is why you can rely on a Mitsubishi

A name to trust automation solution – because we know
first hand about the need for reliable, effi-
Since its beginnings in 1870, some 45 com-
Suitable for high-precision com- cient, easy-to-use automation and control
panies use the Mitsubishi name, covering
ponent placement with repeata- in our own factories.
a spectrum of finance, commerce and
bility performance of ±0.005 mm industry. As one of the world’s leading companies
and a cycle period of just 0.28 s.
with a global turnover of over 4 trillion
The Mitsubishi brand name is recognized
Yen (over $40 billion), employing over
around the world as a symbol of premium
100,000 people, Mitsubishi Electric has the
Intelligent design quality.
resource and the commitment to deliver
Mitsubishi Electric Corporation is active in the ultimate in service and support as well
The high performance of Mitsubishi’s robots is the The World’s first twin-arm SCARA as the best products.
space development, transportation, semi-
result of market-leading technology combined with robot with parallel structure for conductors, energy systems, communica-
intelligent, carefully-planned design. For example, maximum precision. tions and information processing, audio
locating pneumatic and wiring extensions directly in
visual equipment, home electronics, build-
the robot body reduces wiring complexity and costs.
ing and energy management and automa-
tion systems, and has 237 factories and
laboratories worldwide in over 121 countries.
2
MELFA Industrial robots /// MELFA Industrial robots /// MELFA Industrial robots /// MELFA Industrial robots /// MELFA Industrial robots /// MELFA Industrial robots /// MELFA
MELFA Industrial Robots

robots have a surprisingly low total cost of ownership motors and transmissions for All the gripper hands of the articu-
at around € 1.65/h per hour for both purchasing and maximum rigidity. lated-arm robots conform to the
operation. ISO 9409-1 standard.
Internally-routed cables and

hoses prevent snagging on
peripheral equipment. Simple programming
Drive transmission helps to A powerful range of robots needs an equally powerful
provide exceptional and user-friendly programming interface. Mitsubishi’s
repeatability performance. RT ToolBox2 and MELFA WORKS packages are power-
ful programming and simulation software tools tai-
lored precisely for the needs of your robots.
The sensorless crash detection
Seite Aus Umschlag feature reliably detects and

prevents unexpected
collisions.
More than
30,000 applications
Compact and economical

A small installation footprint and outstanding reliability
are all key factors for many applications.
Suitable for high-precision com-

ponent placement with repeata-
bility performance of ±0.005 mm
and a cycle period of just 0.28 s. Soft compliance control mode
improves the quality of assem-
bly and joining processes.
Intelligent design
The high performance of Mitsubishi’s robots is the The World’s first twin-arm SCARA Network capabilities
result of market-leading technology combined with robot with parallel structure for
intelligent, carefully-planned design. For example, maximum precision. Network connections like Ethernet and CC-Link make
A very compact design takes up
locating pneumatic and wiring extensions directly in it easy to integrate Mitsubishi robot controllers in to
minimum space for applica-
the robot body reduces wiring complexity and costs. larger systems, providing users with access to every
tions in cramped quarters.
step of the process.
2 3
The robot range /// The robot range /// The robot range /// The robot range /// The robot range /// Articulated-arm RV-A /// Articulated-arm RV-A /// Articulated-arm RV-A ///
A Complete Range The Powerful Compact Class

Trouble-free
handling
Up to two pneumatic grippers can be
installed for handling workpieces. Pneu-
matic hoses are pre-installed in the robot
arm to facilitate connection of the grippers.
If you need to enlarge the robot workspace,

whilst maintaining compact dimensions,
you can also install these robots on a linear
axis, just like many of the other models.
Controller support for the grippers or up to
a total of 8 axes is included in the standard
REACH
configuration.
RV-2SDB
Facts and Figures
Degrees of freedom (axes):
6
Max. payload (nom.):
SCARA-Roboter
PAYLOAD 3 kg
Gripper flange reach:
574 mm
Handling critical liquids in a laboratory application Repeatability:
The MELFA range includes a robot for every application, with a wide selection of versions and power ratings.
±0.02 mm
For high-precision positioning tasks Small, compact and Max. speed:

Mitsubishi offers the RP-AH and RH-SDH 4,400 mm/s
ranges of SCARA robots with cycle periods
powerful Controller:
of less than 1s and positioning accuracy as CR1D
The compact dimensions and correspond-
precise as 5 μm.
ing reach of around 500 mm make this
6-DOF robot the ideal choice for a multi-
The right solution for tude of applications where only a really
small, compact unit can be installed
every application directly on or even in the system it is servic-
ing. The RV-2SDB robots are particularly
The MELFA robots are designed from the good at handling, placing and removing
ground up to cater to the needs of virtually small parts. Other applications include
Powerful robots for different applications. all industrial applications, providing the quality control and handling samples in
flexibility you need to reconfigure your medical and other laboratories.
production facilities fast.
Comprehensive MELFA robots have models which have
range capabilities such as: The movement axes of the RV-2SDB robot
The MELFA range of robots includes a great 쐽 SCARA or articulated-arm construction

diversity of types, models and versions. The 쐽 4 to 6 degrees of freedom (axes)
articulated-arm RV-A and RV-SD lines 쐽 Handling payloads from 1 kg to 12 kg
include everything from high-performance
compact models with 1kg payloads to pow- 쐽 Working reaches from 150 mm to
erful models that can handle up to 12 kg. 1,385 mm
4 5
The RV-2SDB at work in typically cramped quarters
The robot range /// The robot range /// The robot range /// The robot range /// The robot range /// Articulated-arm RV-A /// Articulated-arm RV-A /// Articulated-arm RV-A ///
A Complete Range The Powerful Compact Class

Trouble-free
handling
Up to two pneumatic grippers can be
installed for handling workpieces. Pneu-
matic hoses are pre-installed in the robot
arm to facilitate connection of the grippers.
If you need to enlarge the robot workspace,

whilst maintaining compact dimensions,
you can also install these robots on a linear
axis, just like many of the other models.
Controller support for the grippers or up to
a total of 8 axes is included in the standard
REACH
configuration.
RV-2SDB
Facts and Figures
Degrees of freedom (axes):
6
SCARA-Roboter
PAYLOAD 3 kg
574 mm
Handling critical liquids in a laboratory application Repeatability:
The MELFA range includes a robot for every application, with a wide selection of versions and power ratings.
±0.02 mm
For high-precision positioning tasks Small, compact and Max. speed:

Mitsubishi offers the RP-AH and RH-SDH 4,400 mm/s
ranges of SCARA robots with cycle periods
powerful Controller:
of less than 1s and positioning accuracy as CR1D
The compact dimensions and correspond-
precise as 5 μm.
ing reach of around 500 mm make this
6-DOF robot the ideal choice for a multi-
The right solution for tude of applications where only a really
small, compact unit can be installed
every application directly on or even in the system it is servic-
ing. The RV-2SDB robots are particularly
The MELFA robots are designed from the good at handling, placing and removing
ground up to cater to the needs of virtually small parts. Other applications include
Powerful robots for different applications. all industrial applications, providing the quality control and handling samples in
flexibility you need to reconfigure your medical and other laboratories.
production facilities fast.
Comprehensive MELFA robots have models which have
range capabilities such as: The movement axes of the RV-2SDB robot
The MELFA range of robots includes a great 쐽 SCARA or articulated-arm construction

diversity of types, models and versions. The 쐽 4 to 6 degrees of freedom (axes)
articulated-arm RV-A and RV-SD lines 쐽 Handling payloads from 1 kg to 12 kg
include everything from high-performance
compact models with 1kg payloads to pow- 쐽 Working reaches from 150 mm to
erful models that can handle up to 12 kg. 1,385 mm
4 5
The RV-2SDB at work in typically cramped quarters
Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S ///
Fast and Economical More Power and Reach

The RV-3SD can also control up to 8 addi-
tional axes for easy integration in to work
Multi-functional
cells where movement is restricted or
where the processing points are far apart.
controllers
Additionally two of these axes can be inter- The RV-SD robots are controlled by the
polated, providing greater flexibility to pro- CR2D controller with multitasking support.
gram the robots movement to avoid The ability to connect to any image pro-
obstacles. The other six axes can be used cessing system, options for controlling up
for other purposes – for example to install to 8 additional axes and high-speed
the robot on a linear axis so that it can tra- Ethernet connections are just a few of the
verse between two processing points. impressive highlights of these powerful
robot controllers. Other features include
conveyor belt tracking, sensorless crash
High protection detection and many other functions for
rating optimising cycle times.
The RV-3SD gives users more flexibility for

planning their automation solutions. For
example, the high IP65 ingress protection
rating makes it possible to install the robot
RV-6SD/-6SDL/
Ideal for operation in tough environments like metal-cutting tools
not just next to the machine or workstation
but actually within the machine itself. This
Heavy payloads of up to 12 kg can be handled with ease -12SD/-12SDL
is particularly useful in metal-cutting appli- Facts and Figures
cations where the robot may be exposed to
Easy fluids and cutting oils. Degrees of freedom (axes):
6
integration Max. payload (nom.):
The RV-3SD series robots are designed for RV-6SD/-6SDL 6 (5) kg
RV-12SD/12SDL 12 (10) kg
easy integration in existing work cells. For
example, 32 integrated inputs and outputs
RV-3SDB/-3SDJB Gripper flange reach:
permit direct interaction with sensors and
actuators, reducing cycle periods and mak-
Facts and Figures RV-6SD
RV-6SDL
781 mm
987 mm
ing system configuration simpler and easier. Degrees of freedom (axes): RV-12SD 1,183 mm
An RV-SD robot in action RV-12SDL 1,482 mm
RV-3SDB 6
Good communication with other automa- RV-3SDJB 5 Repeatability:
tion components is naturally essential for RV-6SD/-6SDL ±0.02 mm
full work cell integration. The RV-3SD series
Max. payload:
RV-3SDB 3.5 (3) kg
Engineered for RV-12SD/12SDL ±0.05 mm
supports connection via the three main Max. speed:
The movement axes of the RV-3SDB
industry standard networks: Ethernet, RV-3SDJB 3.5 (3) kg
The movement axes of the RV-12SDL
performance RV-6SD 9,300 mm/s
Profibus/DP and CC-Link. Gripper flange reach:
The payload handling capacity of up to RV-6SDL 8,500 mm/s
RV-3SDB 727 mm RV-12SD 9,600 mm/s
RV-3SDJB 726 mm 12kg, maximum working radius of RV-12SDL 9,500 mm/s
1,385mm and high precision (repeatability
Repeatability: Controller:
±0.05mm) of the RV-SD series make these
RV-3SDB ±0.02 mm robots ideal for handling workpieces in RV-6SD/-6SDL CR2D
RV-3SDBJ ±0.02 mm industrial manufacturing and for RV-12SD/-12SDL CR2D
Max. speed: daisy-chaining production installations.
RV-3SDB 5,500 mm/s Equipped with the latest technology that
RV-3SDJB 5,300 mm/s drastically reduces cycle periods: These
Controller: new robots can complete the "12 inch test"
in less than a second!
RV-3SDB CR1D
RV-3SDJB CR1D
The RV-3SDB at work in an EDM machine
6 7
Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S ///
Fast and Economical More Power and Reach

The RV-3SD can also control up to 8 addi-
tional axes for easy integration in to work
Multi-functional
cells where movement is restricted or
where the processing points are far apart.
controllers
Additionally two of these axes can be inter- The RV-SD robots are controlled by the
polated, providing greater flexibility to pro- CR2D controller with multitasking support.
gram the robots movement to avoid The ability to connect to any image pro-
obstacles. The other six axes can be used cessing system, options for controlling up
for other purposes – for example to install to 8 additional axes and high-speed
the robot on a linear axis so that it can tra- Ethernet connections are just a few of the
verse between two processing points. impressive highlights of these powerful
robot controllers. Other features include
conveyor belt tracking, sensorless crash
High protection detection and many other functions for
rating optimising cycle times.
The RV-3SD gives users more flexibility for

planning their automation solutions. For
example, the high IP65 ingress protection
rating makes it possible to install the robot
RV-6SD/-6SDL/
Ideal for operation in tough environments like metal-cutting tools
not just next to the machine or workstation
but actually within the machine itself. This
Heavy payloads of up to 12 kg can be handled with ease -12SD/-12SDL
is particularly useful in metal-cutting appli- Facts and Figures
cations where the robot may be exposed to
Easy fluids and cutting oils. Degrees of freedom (axes):
6
integration Max. payload (nom.):
The RV-3SD series robots are designed for RV-6SD/-6SDL 6 (5) kg
RV-12SD/12SDL 12 (10) kg
easy integration in existing work cells. For
example, 32 integrated inputs and outputs
RV-3SDB/-3SDJB Gripper flange reach:
permit direct interaction with sensors and
actuators, reducing cycle periods and mak-
Facts and Figures RV-6SD
RV-6SDL
781 mm
987 mm
ing system configuration simpler and easier. Degrees of freedom (axes): RV-12SD 1,183 mm
An RV-SD robot in action RV-12SDL 1,482 mm
RV-3SDB 6
Good communication with other automa- RV-3SDJB 5 Repeatability:
tion components is naturally essential for RV-6SD/-6SDL ±0.02 mm
full work cell integration. The RV-3SD series
Max. payload:
RV-3SDB 3.5 (3) kg
Engineered for RV-12SD/12SDL ±0.05 mm
supports connection via the three main Max. speed:
The movement axes of the RV-3SDB
industry standard networks: Ethernet, RV-3SDJB 3.5 (3) kg
The movement axes of the RV-12SDL
performance RV-6SD 9,300 mm/s
Profibus/DP and CC-Link. Gripper flange reach:
The payload handling capacity of up to RV-6SDL 8,500 mm/s
RV-3SDB 727 mm RV-12SD 9,600 mm/s
RV-3SDJB 726 mm 12kg, maximum working radius of RV-12SDL 9,500 mm/s
1,385mm and high precision (repeatability
Repeatability: Controller:
±0.05mm) of the RV-SD series make these
RV-3SDB ±0.02 mm robots ideal for handling workpieces in RV-6SD/-6SDL CR2D
RV-3SDBJ ±0.02 mm industrial manufacturing and for RV-12SD/-12SDL CR2D
Max. speed: daisy-chaining production installations.
RV-3SDB 5,500 mm/s Equipped with the latest technology that
RV-3SDJB 5,300 mm/s drastically reduces cycle periods: These
Controller: new robots can complete the "12 inch test"
in less than a second!
RV-3SDB CR1D
RV-3SDJB CR1D
The RV-3SDB at work in an EDM machine
6 7
SCARA RH-SH /// SCARA RH-SH /// SCARA RH-SH /// SCARA RH-SH /// SCARA RH-SH /// SCARA RP-AH /// SCARA RP-AH /// SCARA RP-AH /// SCARA RP-AH /// SCARA RP-AH ///
Intelligent Design Superfast, Superprecise

For applications requiring larger payloads
Intelligent or reaches users can select the RP-3AH and
self-monitoring RP-5AH models, which can handle up to
3 kg and 5 kg and have reaches of 335 and
The sensorless crash detection system 453 mm, respectively.
helps to preventing accidental damage, for
example caused by contact between the
vertical ball screw axis and peripherals dur-
Boosting efficiency
ing teaching operations. When the func-
tion is activated any contact immediately
in production
stops the robot motion automatically. The RP robots’ small size and high precision
make them perfect for micro-handling
applications – for example micro-assembly,
Optimised design placement and soldering of SMD compo-
nents on to circuit boards for many of
The solenoid valves for controlling the grip-
today’s electronic consumer good, such as
per hands are installed on the back of arm
mobile phones. These robots are much
2. This optimised design minimises tangling
more versatile than traditional inflexible
and catching of the gripper supply lines
automated assembly machines, providing
and the surrounding components.
a significant boost to production efficiency.
Mass production of similar products like CD-ROMs on a production line
In addition, pneumatic hoses and sensor
cables are routed inside the robot arm for
easier connection of grippers and sensors.
The powerful SCARA robots of the RH-SDH
series are a great choice for palletising and
assembly tasks. Fast "pick & place" applications – are a major application area for Mitsubishi robots
RP-1AH/-3AH/-5AH
The robots are fitted with newly-developed
servo motors and step-down transmissions
RH-6SDH/-12SDH/ Facts and Figures
that enable operation at high speeds with -20SDH Degrees of freedom (axes):
optimum acceleration and braking perfor- 4
mance. For example, the RH-12SDH achieves Facts and Figures Max. payload:
speeds that are 18 % faster than comparable
robots, giving users an easy, flexible, high Degrees of freedom (axes): RP-1AH 1 kg
speed solution. 4 RP-3AH 3 kg
RP-5AH 5 kg
Repeatability:
RH-6SDH 6 (2) kg
RH-12SDH 12 (4) kg RP-1AH ±0.005 mm
RH-20SDH 20 (5) kg RP-3AH ±0.008 mm
RP-5AH ±0.01 mm
Precise operation in restricted space Max. speed:
The movement axes of an RH-SDH robot RH-6SDH 550 mm
RH-20SDH 850/1000 mm RP-1AH 800 mm/s
RP-3AH 960 mm/s
Repeatability: Precision in cramped RP-5AH 960 mm/s
RH-6SDH ±0.02 mm Controller:
RH-12SDH/-20SDH ±0.025 mm quarters CR1
Max. speed: The movement axes of the RP-AH series
The RP-1AH is in its element in all applica-
RH-6SDH 7,782 mm/s
RH-12SDH/-20SDH 11,221 mm/s tions where components need to be han-
dled quickly and with precision. With an
Controller: installation footprint of just 200 x 160 mm it
An RH-6SDH in a palletising application CR2D has a reach of 236 mm and can place parts,
at speed, with a precision of ±0.005 mm.
This makes it one of the ultimate "pick &

place" solutions available.
8 9
SCARA RH-SH /// SCARA RH-SH /// SCARA RH-SH /// SCARA RH-SH /// SCARA RH-SH /// SCARA RP-AH /// SCARA RP-AH /// SCARA RP-AH /// SCARA RP-AH /// SCARA RP-AH ///
Intelligent Design Superfast, Superprecise

For applications requiring larger payloads
Intelligent or reaches users can select the RP-3AH and
self-monitoring RP-5AH models, which can handle up to
3 kg and 5 kg and have reaches of 335 and
The sensorless crash detection system 453 mm, respectively.
helps to preventing accidental damage, for
example caused by contact between the
vertical ball screw axis and peripherals dur-
Boosting efficiency
ing teaching operations. When the func-
tion is activated any contact immediately
in production
stops the robot motion automatically. The RP robots’ small size and high precision
make them perfect for micro-handling
applications – for example micro-assembly,
Optimised design placement and soldering of SMD compo-
nents on to circuit boards for many of
The solenoid valves for controlling the grip-
today’s electronic consumer good, such as
per hands are installed on the back of arm
mobile phones. These robots are much
2. This optimised design minimises tangling
more versatile than traditional inflexible
and catching of the gripper supply lines
automated assembly machines, providing
and the surrounding components.
a significant boost to production efficiency.
Mass production of similar products like CD-ROMs on a production line
In addition, pneumatic hoses and sensor
cables are routed inside the robot arm for
easier connection of grippers and sensors.
The powerful SCARA robots of the RH-SDH
series are a great choice for palletising and
assembly tasks. Fast "pick & place" applications – are a major application area for Mitsubishi robots
RP-1AH/-3AH/-5AH
The robots are fitted with newly-developed
servo motors and step-down transmissions
RH-6SDH/-12SDH/ Facts and Figures
that enable operation at high speeds with -20SDH Degrees of freedom (axes):
optimum acceleration and braking perfor- 4
mance. For example, the RH-12SDH achieves Facts and Figures Max. payload:
speeds that are 18 % faster than comparable
robots, giving users an easy, flexible, high Degrees of freedom (axes): RP-1AH 1 kg
speed solution. 4 RP-3AH 3 kg
RP-5AH 5 kg
Repeatability:
RH-6SDH 6 (2) kg
RH-12SDH 12 (4) kg RP-1AH ±0.005 mm
RH-20SDH 20 (5) kg RP-3AH ±0.008 mm
RP-5AH ±0.01 mm
Precise operation in restricted space Max. speed:
The movement axes of an RH-SDH robot RH-6SDH 550 mm
RH-20SDH 850/1000 mm RP-1AH 800 mm/s
RP-3AH 960 mm/s
Repeatability: Precision in cramped RP-5AH 960 mm/s
RH-6SDH ±0.02 mm Controller:
RH-12SDH/-20SDH ±0.025 mm quarters CR1
Max. speed: The movement axes of the RP-AH series
The RP-1AH is in its element in all applica-
RH-6SDH 7,782 mm/s
RH-12SDH/-20SDH 11,221 mm/s tions where components need to be han-
dled quickly and with precision. With an
Controller: installation footprint of just 200 x 160 mm it
An RH-6SDH in a palletising application CR2D has a reach of 236 mm and can place parts,
at speed, with a precision of ±0.005 mm.
This makes it one of the ultimate "pick &

place" solutions available.
8 9
Programming made easy /// Programming made easy /// Programming made easy /// Fast and easy simulation /// Fast and easy simulation /// Fast and easy simulation ///
Programming made Easy Fast and Easy Simulation
Using Mitsubishi RT ToolBox2 also provides tools for pro-

gram archiving and for backing up the
MELFA WORKS is a 3D robot simulation
software package. It can simulate entire
robots is easy robot’s parameters and settings. work cells, i.e. both the robot itself and its
interaction with its environment.
Programming a Mitsubishi robot arm is a MELFA WORKS is an add-on for SolidWorks
lot easier than most people imagine. The Many functions – and is able to use all the advanced functions
of this modern 3D CAD package. You can
programming language of the teach pen-
dent is a simple sentence like structure with
for your benefit select grippers, sensors and other compo-
commands such a MOV being used to pro- nents from a large range of libraries and
쐽 Online "teach-in" function for robot
gram the robot to move. integrate them directly in MELFA WORKS.
positions
In addition to this the advanced RT 쐽 Position display on a 3-D representa-
ToolBox2 und MELFA WORKS software Parameter lists tion of the robot Powerful tools
packages provide enhanced programming 쐽 Syntax checking
and simulation capabilities, making it pos- This set of powerful software tools helps
sible to design and simulate your robot 쐽 I/O monitor you throughout the planning, program-
applications before you actually purchase Monitoring and 쐽 Variable monitor ming and test phases of your project.
"Reachability" checks in the early planning
the hardware.
visualisation 쐽 Online command execution
stages help you to select the most suitable
쐽 Error diagnostics robot systems for the task. You can move
While the programs are being executed
쐽 Position editor the robots and other work cell components
you can monitor and visualise the robots
쐽 Project management around in the simulation at will, making it
movement with the help of RT ToolBox2
easy to optimise the layout of your system.
comprehensive control and diagnostics
functions. The real-time axis speeds and
motor currents are clearly displayed,
together with the statuses of all the inputs MELFA WORKS industrial simulation software
and outputs of the robot. Live monitoring Authentic simulation
fully supports all the programs executed by
the controller enabling you to track down environment when you need support, for example, with
program errors quickly and reliably. the formulation of the necessary program-
ming syntax. After creating your robot pro-
grams you can test them directly in the
Easy programming on the spot simulation environment, eliminating the
need to remove the actual work cell from
the production process for testing.
RT ToolBox2 –
from professionals Saving costs
for experts The RT ToolBox2 and MELFA WORKS pack-
ages are powerful tools for achieving maxi- Program execution monitoring in the simulation
A powerful robot programming language mum efficiency and cost-effectiveness in
needs an equally powerful programming the configuration and operation of
environment. The Model Explorer simplifies object management robot-supported automation solutions.
They allow you to plan and operate your
RT ToolBox2 is the programming environ- RT ToolBox2 uses the native robot lan- systems with a very high degree of confi-
Groups of windows for parameter entry guages (MELFA BASIC V or MELFA BASIC IV)
ment for all Mitsubishi Electric robots. It dence, even before any hardware is pur-
enables you to create programs in minutes to program the robots within the simula- chased.
using the MELFA BASIC V or MELFA BASIC IV tion environment. This means that no addi-
robot languages. After testing and optimi- tional conversion or processing steps are
sation it then just takes a couple of mouse required when you transfer the resulting
clicks to transfer them to the actual robots, programs to real robots. In addition, this
using an efficient direct link between the enables you to use familiar robot program-
PC and the robot via a network, USB or a ming languages and all your existing
serial connection. know-how and skills when you are working
with the simulation. The comprehensive
online help system is always available
10 11
Programming made easy /// Programming made easy /// Programming made easy /// Fast and easy simulation /// Fast and easy simulation /// Fast and easy simulation ///
Programming made Easy Fast and Easy Simulation
Using Mitsubishi RT ToolBox2 also provides tools for pro-

gram archiving and for backing up the
MELFA WORKS is a 3D robot simulation
software package. It can simulate entire
robots is easy robot’s parameters and settings. work cells, i.e. both the robot itself and its
interaction with its environment.
Programming a Mitsubishi robot arm is a MELFA WORKS is an add-on for SolidWorks
lot easier than most people imagine. The Many functions – and is able to use all the advanced functions
of this modern 3D CAD package. You can
programming language of the teach pen-
dent is a simple sentence like structure with
for your benefit select grippers, sensors and other compo-
commands such a MOV being used to pro- nents from a large range of libraries and
쐽 Online "teach-in" function for robot
gram the robot to move. integrate them directly in MELFA WORKS.
positions
In addition to this the advanced RT 쐽 Position display on a 3-D representa-
ToolBox2 und MELFA WORKS software Parameter lists tion of the robot Powerful tools
packages provide enhanced programming 쐽 Syntax checking
and simulation capabilities, making it pos- This set of powerful software tools helps
sible to design and simulate your robot 쐽 I/O monitor you throughout the planning, program-
applications before you actually purchase Monitoring and 쐽 Variable monitor ming and test phases of your project.
"Reachability" checks in the early planning
the hardware.
visualisation 쐽 Online command execution
stages help you to select the most suitable
쐽 Error diagnostics robot systems for the task. You can move
While the programs are being executed
쐽 Position editor the robots and other work cell components
you can monitor and visualise the robots
쐽 Project management around in the simulation at will, making it
movement with the help of RT ToolBox2
easy to optimise the layout of your system.
comprehensive control and diagnostics
functions. The real-time axis speeds and
motor currents are clearly displayed,
together with the statuses of all the inputs MELFA WORKS industrial simulation software
and outputs of the robot. Live monitoring Authentic simulation
fully supports all the programs executed by
the controller enabling you to track down environment when you need support, for example, with
program errors quickly and reliably. the formulation of the necessary program-
ming syntax. After creating your robot pro-
grams you can test them directly in the
Easy programming on the spot simulation environment, eliminating the
need to remove the actual work cell from
the production process for testing.
RT ToolBox2 –
from professionals Saving costs
for experts The RT ToolBox2 and MELFA WORKS pack-
ages are powerful tools for achieving maxi- Program execution monitoring in the simulation
A powerful robot programming language mum efficiency and cost-effectiveness in
needs an equally powerful programming the configuration and operation of
environment. The Model Explorer simplifies object management robot-supported automation solutions.
They allow you to plan and operate your
RT ToolBox2 is the programming environ- RT ToolBox2 uses the native robot lan- systems with a very high degree of confi-
Groups of windows for parameter entry guages (MELFA BASIC V or MELFA BASIC IV)
ment for all Mitsubishi Electric robots. It dence, even before any hardware is pur-
enables you to create programs in minutes to program the robots within the simula- chased.
using the MELFA BASIC V or MELFA BASIC IV tion environment. This means that no addi-
robot languages. After testing and optimi- tional conversion or processing steps are
sation it then just takes a couple of mouse required when you transfer the resulting
clicks to transfer them to the actual robots, programs to real robots. In addition, this
using an efficient direct link between the enables you to use familiar robot program-
PC and the robot via a network, USB or a ming languages and all your existing
serial connection. know-how and skills when you are working
with the simulation. The comprehensive
online help system is always available
10 11
Innovation /// Precision /// Flexibility /// Innovation /// Precision /// Flexibility /// Innovation /// Precision /// Flexibility /// Innovation /// Precision /// Flexibility /// Innovation ///
Innovation in Movement Precision and Flexibility

Small and compact
MELFA robot controllers are equally small
and compact. With dimensions close to
those of a standard PC they can be installed
in the most cramped environments with-
out taking up valuable production space.
Their multitasking operating system and
the powerful MELFA BASIC programming
language make it easy to use them to con-
trol other system components. For exam-
ple, the language instruction set also
includes simple commands for the integra-
tion of cameras for object identification.
Strength and
accuracy Machining/providing
The individual joints and axes of the robots

are powered by high-precision AC servo
Sealing a workpiece
motors coupled with play-free Harmonic Versatility The ideal trainer Small robots.
Drive gears. Absolute position encoders are
For years, Mitsubishi robots have been
demonstrating the power and productivity fitted to every motor, saving time by Mitsubishi robots are fitted with a standard Festo Didactic, one of the world’s leading Big solutions.
enabling the robot to start work as soon as robot gripper flange so you can attach any suppliers of training applications, has
of their innovative technology in thou- Modern automation technology from
it is powered up. ISO 9404-1 compatible grippers. Cables already been using Mitsubishi robots in its
sands of demanding applications. Mitsubishi Electric is one of the driving
and hoses are routed internally where they training systems for years. Thousands of
cannot snag on peripherals. The sensorless students and trainees have already learned forces behind technical progress and com-
These robots are now in service in virtually
collision detection system enables the robot to appreciate the capabilities of Mitsubishi mercial success all over the world.
all branches of the motor industry and its
to respond to unforeseen collisions. The robots on these systems. Although MELFA robots can be used in
suppliers, and also in medical, education
robots also feature Compliance Control for individual machines and "island solutions"
and training applications. With their pow-
gentle and responsive handling to improve they really develop their full versatility as
erful controllers they provide cost-effec-
performance in assembly processes. components in integrated systems.
tive, reliable and easily-installable solutions
for everything from simple tool and com- Maximum reliability is always the top prior-
ponent handling tasks to complex applica- 쐽 Fast Configuration
ity for our robots, no matter whether they
tions in which the entire system is The initial setup of a new Mitsubishi robot are used in simple handling operations or
controlled by the robot. system only takes around 5 minutes. The the highly-complex applications of car
easy-to-understand programming language manufacturers and their high-tech suppli-
and powerful, user-friendly software tools ers. Whatever the job, you can always
Precise operation in Applications in limited space make programming and operation child’s depend on the reliability of Mitsubishi
play.
restricted space robots.
쐽 Universal Expansion Options Other typical applications for these robots
Mitsubishi’s compact, 5-Joint closed link
robot is the only one of its kind in the A comprehensive range of options and include manipulation of components and
world. It has an installation footprint no expansion cards can be added to adapt your tools, quality control, placement and instal-
larger than an A5 sheet of paper and robot to the precise requirements of your lation of small and miniature parts and
repeatability of ±0.005 mm. This accuracy, environment and application. These include handling tasks in medical and laboratory
combined with a cycle period of just 0.28 s, robot grippers, interface cards for connection Mitsubishi Robots in Quality Control environments.
makes it suitable for use in precise compo- to a wide range of networks, I/O expansion
nent placement applications. modules and much more besides.
12 13
Innovation /// Precision /// Flexibility /// Innovation /// Precision /// Flexibility /// Innovation /// Precision /// Flexibility /// Innovation /// Precision /// Flexibility /// Innovation ///
Innovation in Movement Precision and Flexibility

Small and compact
MELFA robot controllers are equally small
and compact. With dimensions close to
those of a standard PC they can be installed
in the most cramped environments with-
out taking up valuable production space.
Their multitasking operating system and
the powerful MELFA BASIC programming
language make it easy to use them to con-
trol other system components. For exam-
ple, the language instruction set also
includes simple commands for the integra-
tion of cameras for object identification.
Strength and
accuracy Machining/providing
The individual joints and axes of the robots

are powered by high-precision AC servo
Sealing a workpiece
motors coupled with play-free Harmonic Versatility The ideal trainer Small robots.
Drive gears. Absolute position encoders are
For years, Mitsubishi robots have been
demonstrating the power and productivity fitted to every motor, saving time by Mitsubishi robots are fitted with a standard Festo Didactic, one of the world’s leading Big solutions.
enabling the robot to start work as soon as robot gripper flange so you can attach any suppliers of training applications, has
of their innovative technology in thou- Modern automation technology from
it is powered up. ISO 9404-1 compatible grippers. Cables already been using Mitsubishi robots in its
sands of demanding applications. Mitsubishi Electric is one of the driving
and hoses are routed internally where they training systems for years. Thousands of
cannot snag on peripherals. The sensorless students and trainees have already learned forces behind technical progress and com-
These robots are now in service in virtually
collision detection system enables the robot to appreciate the capabilities of Mitsubishi mercial success all over the world.
all branches of the motor industry and its
to respond to unforeseen collisions. The robots on these systems. Although MELFA robots can be used in
suppliers, and also in medical, education
robots also feature Compliance Control for individual machines and "island solutions"
and training applications. With their pow-
gentle and responsive handling to improve they really develop their full versatility as
erful controllers they provide cost-effec-
performance in assembly processes. components in integrated systems.
tive, reliable and easily-installable solutions
for everything from simple tool and com- Maximum reliability is always the top prior-
ponent handling tasks to complex applica- 쐽 Fast Configuration
ity for our robots, no matter whether they
tions in which the entire system is The initial setup of a new Mitsubishi robot are used in simple handling operations or
controlled by the robot. system only takes around 5 minutes. The the highly-complex applications of car
easy-to-understand programming language manufacturers and their high-tech suppli-
and powerful, user-friendly software tools ers. Whatever the job, you can always
Precise operation in Applications in limited space make programming and operation child’s depend on the reliability of Mitsubishi
play.
restricted space robots.
쐽 Universal Expansion Options Other typical applications for these robots
Mitsubishi’s compact, 5-Joint closed link
robot is the only one of its kind in the A comprehensive range of options and include manipulation of components and
world. It has an installation footprint no expansion cards can be added to adapt your tools, quality control, placement and instal-
larger than an A5 sheet of paper and robot to the precise requirements of your lation of small and miniature parts and
repeatability of ±0.005 mm. This accuracy, environment and application. These include handling tasks in medical and laboratory
combined with a cycle period of just 0.28 s, robot grippers, interface cards for connection Mitsubishi Robots in Quality Control environments.
makes it suitable for use in precise compo- to a wide range of networks, I/O expansion
nent placement applications. modules and much more besides.
12 13
Compact and high functional /// Robot controller /// Compact and high functional Automation solutions /// Automation solutions /// Automation solutions /// Automation
Compact and High Functional A World of

Automation Solutions
쐽 Digital inputs and outputs
System connectability is excellent: A full 16 Robots
digital inputs and 16 digital outputs are
included as standard equipment with the Motion control and servos
CR1 controller and 32 inputs and 32 out-
Inverters
puts are available as an option with the LV circuit protection
CR2D/CR3D controllers. Optional remote
I/O boxes make it possible to increase this
to up to 256 inputs and 256 outputs for
complex applications.
Laser machines
쐽 Large program memory
The controller can store up to 88 independ-
ent programs, all of which can call each
other, for example when different program
sequences are needed for different products.
CR1, CR1D, CR2D

and CR3D
Facts and Figures
Control mode:
PTP and CP
Seite Aus Umschlag
Processor:
64 Bit RISC + DSP EDM machines
The compact, modular robot controller is This transparent compatibility pays off Control functions: Micro PLCs
an integral part of the robot system. It con- when you need to use different robot types Axial, linear and 3-D circular interpolation; Modular PLCs
tains the CPU and the power electronics for or models when the needs of your applica- palletising functions, interrupt control
and multitasking Mitsubishi offer a wide range of automation equipment from PLCs and HMIs to CNC and EDM machines
powering and controlling the robot. tion change.
Max. number of programs:
쐽 Numbercrunching power
Small and compact A 64-bit RISC processor with DSP provides
256 for CR1D/CR2D/CR3D
88 for CR1
ample power for 3-D circular and linear Max. number of program steps: This is why you can rely on a Mitsubishi
At Mitsubishi Electric "switchgear cabinets"
are relics of the past – everything is now
interpolation, and for multi-tasking with up
26,000 for CR1D/CR2D/CR3D
to 32 programs running in parallel. 5,000 for CR1 first hand about the need for reliable, effi-
packed into a single compact controller. Since its beginnings in 1870, some 45 com-
Depending on the robot model either the Max. number of teaching points: cient, easy-to-use automation and control.
쐽 Gentle joining panies use the Mitsubishi name, covering a
CR1 controller with a footprint no larger 13,000 for CR1D/CR2D/CR3D spectrum of finance, commerce and industry.
The standard "compliance control" func- As one of the world’s leading companies
than an A4 sheet of paper or the 2,500 for CR1
tion guarantees gentle positioning. This with a global turnover of 3.4 trillion Yen
CR2D/CR3D controller is used. The powerful Internal I/Os: The Mitsubishi brand name is recognized
function can be activated and deactivated (approximately $30.8 billion), employing
control performance is the same in both the around the world as a symbol of premium
as required, making it possible to optimise CR1 16 E/16 A, max. 240 E/240 A over 100,000 people, Mitsubishi Electric
smaller and larger versions; the only differ- CR1D, CR2D, 32 E/32 A optional, quality.
demanding joining and assembly pro- has the resource and the commitment to
ence between the two is in the power out- CR3D max. 256 E/256 A
cesses, saving wear and tear on both com- Mitsubishi Electric Corporation represents deliver the ultimate in service and support
put stages. No matter which controller you
ponents and robots. Safety functions: space development, transportation, semi- as well as the best products.
use you always work with the same pro-
gramming language – MELFA BASIC IV/V – EMERGENCY OFF and door contact switch conductors, energy systems, communica-
쐽 Sensorless collision monitoring (CR1D, CR2D, CR3D)
and have the same options at your disposal. tions and information processing, audio
Potential collision situations are identified visual equipment, home electronics, build-
reliably without an additional sensor, pre- ing and energy management and automa-
venting damage to both workpieces and tion systems, and has 237 factories and
peripherals. laboratories worldwide in over 121 countries.
14 15
Farbprofil: Deaktiviert
Komposit Standardbildschirm
/// RV-SD /// RH-SDH /// RP-AH
Technical Information Section
C_MELFA-Roboter_F_UK.prn 1
????
Montag, 11. Oktober 2010 13:41:45
Further Publications within the Industrial Automation Range
System Q Family and FX Family

Product catalogues for programmable logic controllers, operator
terminals and accessories for the MELSEC PLC series
HMI Family
Product catalogue for operator terminals, supervision software
and accessories
Inverter Family
Product catalogue for frequency inverters and accessories
MR Family
Product catalogue for servo amplifiers and servo motors as well as
motion controller and accessories
Networks
Product catalogue for Master and Slave modules as well as
accessories for the use of programmable logic controllers in
open and MELSEC networks
Low Voltage Switchgears

Product catalogue for low voltage switchgears, magnetic
contactors and circuit breakers
Automation Book
Overview on all Mitsubishi automation products, like frequency
inverters, servo/motion, robots etc.
Further service supplies

This product catalogue is designed to give an overview of the extensive range of Mitsubisi MELFA RV-SD, RH-SDH and RP-AH robots se-
ries. If you cannot find the information you require in this catalogue, there are a number of ways you can get further details on configura-
tion and technical issues, pricing and availability.
For technical issues visit the www.mitsubishi-automation.com website.
Our website provides a simple and fast way of accessing further technical data and up to the minute details on our products and
services. Manuals and catalogues are available in several different languages and can be downloaded for free.
For technical, configuration, pricing and availability issues contact our distributors and partners.
Mitsubishi partners and distributors are only too happy to help answer your technical questions or help with configuration building.
For a list of Mitsubishi partners please see the back of this catalogue or alternatively take a look at the "contact us" section of our website.
About this product catalogue

This catalogue is a guide to the range of products available. For detailed configuration rules, system building, installation and configuration
the associated product manuals must be read. You must satisfy yourself that any system you design with the products in this catalogue
is fit for purpose, meets your requires and conforms to the product configuration rules as defined in the product manuals.
Specifications are subject to change without notice. All trademarks acknowledged.
© Mitsubishi Electric Europe B.V., Factory Automation - European Business Group
2 MITSUBISHI ELECTRIC
????
Montag, 11. Oktober 2010 13:41:49
CONTENTS ///
MELFA Industrial Robot Systems
1 Robots
웇 Articulated arm robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
웇 SCARA robots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
웇 Industrial robots RV-2SDB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
웇 Industrial robots RV-3SDJB and RV-3SDB. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
웇 Industrial robots RV-6SD, RV-6SDL, RV-12SD and RV-12SDL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
웇 Industrial robots RH-6SDH, RH-12SDH and RH-20SDH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
웇 Industrial robots RP-1AH, RP-3AH and RP-5AH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2 Controller
웇 Controller CR1, CR1D, CR2D and CR3D. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
웇 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3 Accessories
웇 Teaching box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
웇 Gripper sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
웇 Pneumatic valve sets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
웇 Expansion option cards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
웇 Adaptor cables and connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
웇 Tubes and machine cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
웇 Expansion cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
웇 PC and I/O connection cables, calibration device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
웇 General overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4 Programming Language
웇 MELFA-BASIC IV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
웇 MELFA-BASIC V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
5 Software
웇 RT Toolbox2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
웇 PC support software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
웇 MELFA-Vision/MELFA-Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
MITSUBISHI ELECTRIC 3
????
Montag, 11. Oktober 2010 13:41:52
/// MELFA INDUSTRIAL ROBOTS
MELFA - Industrial Robot Systems
For many years Mitsubishi Electric’s inno-

vative and powerful robots have been de- PC
livering reliable performance in thousands
of applications. These robots are now used
throughout the motor industry by both car
manufacturers and their suppliers, and in a PLC
Robot
wide variety of medical, training and many RS232 or controller
other different applications. Ethernet Ethernet CC-Link
EMG.STOP
CHANG DISP
Broad Range of Products

STATUS NUMBER UP
8.8.8.8.8. DOWN
START RESET
SSCNET
MODE SVO.ON
REMOVE T/B
STOP END
SVO.OFF
CR1
MITSUBISHI
The MELFA family includes a wide selec- RS-232C or

CNC
tion of models in many different versions. Ethernet
Tracking
The articulated-arm robots of the RV-SD
Vision
serie range from the high-performance sensor
compact class with a 2 kg payload capacity MITSUBISHI MELSERVO
to powerful models that can handle up to

12 kg. Mitsubishi’s line of SCARA robots in MITSUBISHI
the RP-AH and RH-SDH series are designed RV-6S

Remote
inputs/outputs
for high-precision positioning tasks and
feature cycle periods of less than 1 s with Servo amplifier Additional axis (linear)
positioning accuracy up to 5 µm.
Example of a robot system configuration
Small and Compact
Mitsubishi’s robot controllers are small and
compact. With a footprint no larger than a Versatility for Countless Universal Expansion Options
PC they can be installed even in the most Applications A comprehensive range of options and
cramped quarters without taking up valu- The robots are fitted with a standard robot expansion cards can be added to adapt
able production space. Their multitasking gripper flange so you can attach any ISO your robot to the precise requirements of
operating system and powerful MELFA 9404-1 compatible grippers. Cables and your environment and application. These
BASIC programming language make it hoses are routed internally where they include robot grippers, interface cards for
easy to develop programs to control your cannot snag on peripherals. The sensorless connection to a wide range of networks,
production systems. For example, MELFA collision detection system enables the I/O expansion modules and much more
BASIC includes instructions that make it robot to respond to unforeseen collisions. besides.
easy to integrate a camera in the system The robots also feature Compliance Con-
for object identification. trol for gentle and responsive handling New Robot Controller
Power and Precision to improve performance in assembly With the D-Controller several connectors and
processes. features are implemented as a standard.
The robots are fitted with modern hollow Besides the Ethernet- and R232-Connection
shaft motors and transmissions designed Fast Configuration for connecting other communicating devices
for maximum drive train rigidity. The initial setup of a new Mitsubishi robot a USB-Port for programming is a standard
High-precision AC servo motors and system only takes around 5 minutes. feature. Up to 8 additional Axes can be di-
play-free harmonic drive transmissions The easy-to-understand programming lan- rectly connected to the D-Controller
ensure outstanding precision. guage and powerful, user-friendly software
tools make programming and operation
child’s play.
Machining/providing Sealing Conveyor tracking
Production of electric devices Wafer transfer Deburring
????
Montag, 11. Oktober 2010 13:42:33
AUTOMATION SOLUTIONS WITH PRECISION ///
Optional Network Capabilities
Ethernet PC
Programm load/save,
The Ethernet expansion card uses the standard TCP/IP protocol for PDA production data
high-speed communications between the robot controller and PCs or acquisition,monitoring,control
sensors. You can configure the card in master or slave mode as required
Ethernet (TCP/IP)
by your application. One of the most attractive features of this communi- PLC
cations option is the ability to control the robot in real time, so that the CC-Link
robot’s movements can respond instantaneously to sensor data.
CR3-535M
MITSUBISHI
EMG.STOP
CHANG DISP
STATUS NUMBER UP
ON
8.8.8.8.8. DOWN
START RESET
MODE SVO.ON
ED
REMOVE T/B
END
TRIPP SVO.OFF STOP
OFF
RESET
EMG.STOP
CHANG DISP
STATUS NUMBER UP
8.8.8.8.8. DOWN
START RESET
MODE SVO.ON
REMOVE T/B
Signal transmission,
CC-Link
STOP END
SVO.OFF
CR3-TR52
MITSUBISHI
CR1
MITSUBISHI
synchronisation,
read/writeVariables
This option provides a large number of virtual I/Os, for example for
communication between several robots or connection of a PLC via a MITSUBISHI
simple twisted-pair line.

RP-1AH
Profibus/DP MITSUBISHI
Robot
RV -3SB
The Profibus/DP network is particularly well suited for time-critical appli-

cations. A wealth of distributed I/O solutions are also available for this
Possible network connection configuration
network.
Practical Functions for all Applications
Optimum accelleration/deceleration
control, optimum override control
Linear path B
Normal control Constant path
regardless of
override
Speed
Linear path A Stack

compemsation
Time
Automatic acceleration and braking ramp Continous path function for faster cycle Gravity compensation for greater positio-
optimisation for faster cycle times times ning and palletising precision
Lathe chuck etc. Error

Robot Robot Up to 8 additional axes
Vision sensor
controller
MITSUBISHI
RV-6S
Additional Additional Additional

axis axis axis
Max. 2 axes Max. 3 axes Max. 3 axes
Conveyor
Absorption of error using Encoder
orthogonal compliance function Mechanism 1 Mechanism 2 Mechanism 3
Workpiece such as foodstuff, cosmetic or medicine
Orthogonal compliance control function Object tracking function for faster cycle Control functions for up to 8 additional
for interactive response to opposing forces times axes
Parallel executions processing Sensorless crash detection

Robot Torque
Robot movement Actual torque
Program 1 program Detect interference
Base program
Parallel execution
Max. 32 programs
Program 2
I/O process program
Allowable range + side
Conveyor (detection level+ side)
Vision Allowable range - side Estimated torque
Program 3 sensor Communications (detection level- side)
program
(common
variables) Interference occurs
Constant execution
Program 4 Personal program (starts at power ON)
computer
Multitasking function for parallel execution of multiple tasks
????
Montag, 11. Oktober 2010 13:44:09
/// ARTICULATED ARM ROBOTS
왎 Overview Articulated Arm Robots
Large Range of Robot Models Makes Selection Easy

Mitsubishi produces a comprehensive The product range includes the almost There is also a line of special high-precision
1 range of robot models to cater to the full universal articulated-arm robots with 5 or robots for very fast and exact handling
spectrum of modern needs. All Mitsubishi 6 degrees of freedom and SCARA robots tasks.
robots are powerful, fast and compact – for assembly and palletising tasks.
ROBOTS
that goes almost without saying.
RV-2SDB RV-3SDJB, RV-3SDB RV-6SD, RV-6SDL, RV-12SD, RV-12SDL

The powerful robots of the compact class The RV-3SD deliver robots outstanding The RV-6SD and RV-12SD are the high-per-
are ideal for handling and component performance at or even in machines. The formance robots in Mitsubishi’s SD series.
placement applications in cramped quar- entire robot has an IP65 protection rating Available in both 6 kg and 12 kg payload
ters. These robots are also well suited for for reliable operation even under the most versions and with standard or long-reach
handling tasks at machines, for example extreme conditions. arms, the robots of this series are ideal for
automated laboratory equipment etc. handling workpieces in industrial manufac-
turing processes and for daisy-chaining
production stations.
MITSUBISHI
MITSUBISHI
RV -3SDB RV-6SD
Model RV-2SDB RV-3SDJB RV-3SDB RV-6SD RV-6SDL RV-12SD RV-12SDL

Degrees of freedom 6 5 6 6 6 6 6
Type Standard
Installation posture Installation on floor or ceiling possible Installation on floor, wall or ceiling possible Installation on floor, wall or ceiling possible Installation on floor, wall or ceiling possible
Max. composite speed 4400 5300 5500 9300 8500 9600 9500
[mm/s]
Payload maximum 3 3.5 3.5 6 6 12 12
[kg] nominal 2 3 3 5 5 10 10
Position repeatability ±0.02 ±0.02 ±0.02 ±0.02 ±0.02 ±0.05 ±0.05
[mm]
Weight [kg] 19 33 37 58 60 93 98
Reach without hand 504 641 642 696 902 1086 1385
[mm]
Catalogue reference page 8 10 10 12 12 12 12
006.prn 6
????
Montag, 11. Oktober 2010 17:46:31
SCARA ROBOTS ///
왎 Overview SCARA Robots
The robots described in this section are The kinematic advantages of this design
SCARA robots, which have 4 degrees of enable the robot to perform positioning
freedom. Whilst the RH-SDH series has the
typical SCARA design, the closed-loop arm
tasks with precision of up to 5 µm. 1
of the RP-AH series puts it in a special class
ROBOTS
of its own.
RH-6SDH, RH-12SDH, RH-20SDH RP-1AH, RP-3AH, RP-5AH

SCARA robots are designed for tasks like Their compact dimensions and high
sorting, palletising and workpiece place- precision predestine the RP robots for
ment. Depending on the application micro-handling applications like micro-
they can achieve cycle times of less than assembly, component placement and
1 second. soldering SMD circuit boards.
MITSUBISHI
RP-1AH
RH-6SDH
Model RH-6SDH RH-12SDH RH-20SDH Model RP-1AH RP-3AH RP-5AH

Degrees of freedom 4 Degrees of freedom 4
Installation posture Floor mounting Installation posture Floor mounting
Payload maximum 6 12 20 Payload maximum 1.0 3.0 5.0
[kg] nominal 2 2 5 [kg] nominal 0.5 1.0 2.0
Max. reach 550 850 850 Rectangular operating 150x105 210x148 207x210
(arm 1 + 2) [mm] range (width x depth) (DIN A6) (DIN A5) (DIN A4)
[mm]
7782 11221
Max. composite speed (J1, J2, J4) (J1, J2, J4) 11221 X, Y
[mm/s] 6003 6612 direction ±0.005 ±0.008 ±0.01
(J1, J2) (J1, J2) [mm]
X, Y
direction ±0.02 ±0.025 ±0.025 Repeata- Zdirection ±0.01 ±0.01 ±0.01
[mm] bility [mm]
J3 (Z) wrist roll
Repeata- direction ±0.01 ±0.01 ±0.01 direction ±0.02 ±0.02 ±0.02
bility [mm] [degree]
J4 Weight [kg] 12 24 25
direction ±0.02 ±0.03 ±0.03
(θ axis) Reference page 18
[degree]
Weight [kg] 21 45 47
Reference page 15
????
Montag, 11. Oktober 2010 13:46:24
/// SPECIFICATIONS
왎 Industrial Robots RV-2SDB
J4
The Articulated Arm Robots RV-2SDB
High-tech arms and robot controllers are among the outstanding
1 J3
J5 features of the RV-2SDB, who has 6 degrees of freedom, respec-
tively. The compact controller is easy to install, even in systems
where space is at a premium.
ROBOTS
J2 J6
Highlights:
앬 Slim design allows operation in cramped quarters
J1
앬 Additional axes can be added
앬 Multitasking operating system
RV-2SDB
Specification
Characteristics/Functions
RV-2SDB
Degrees of freedom (no. of axes) 6
Installation posture Floor or ceiling mounting possible
Structure Vertical multiple-joint type
Drive system AC servo (Brakes on all axes)
Position detection method Absolute encoder
waist (J1) 480 (-240 to +240)
shoulder (J2) 240 (-120 to +120)
elbow (J3) 160 (0 to +160)
Operating range degree
wrist twist (J4) 400 (-200 to +200)
wrist pitch (J5) 240 (-120 to +120)
wrist roll (J6) 720 (-360 to +360)
waist (J1) 225
shoulder (J2) 150
elbow (J3) 275
Maximum speed degree/s
wrist twist (J4) 412
wrist pitch (J5) 450
wrist roll (J6) 720
Maximum composite speed mm/s 4,400
rated 3
Payload capacity kg
maximum 2
Position repeatability mm ± 0.02
Ambient temperature °C 0 to 40
Weight kg 19
wrist twist (J4) 4.17
Tolerable moment wrist pitch (J5) Nm 4.17
wrist roll (J6) 2.45
wrist twist (J4) 0.18 (0,27)
Tolerable inertia wrist pitch (J5) kgm² 0.18 (0,27)
wrist roll (J6) 0.04 (0,1)
Arm reachable radius (to the center point of the J5 axis) mm 504
Tool wiring 4 input signal lines (connections in robot gripper area), 4 output signal lines (connections in base area)
Tool pneumatic pipes Ø4x4 (from the base level to the gripper hand area)
Supply pneumatic pressure MPa (bar) 0.5 ± 10 % (5 ± 10 %)
Gripper flange ISO 9409-1-31.5
Protection rating IP30
Robot controller CR1D
Order information Art. no. 231174
????
Montag, 11. Oktober 2010 13:46:59
DIMENSIONS AND MOVEMENT RANGES ///
왎 Robot Arms RV-2SDB
RV-2S DB
1
ROBOTS
4xØ9
hole Gripper flange
ISO 9409-1-31,5
Dimensions: mm
009.prn 9
????
Montag, 11. Oktober 2010 17:46:57
/// SPECIFICATIONS
왎 Industrial Robots RV-3SDJB and RV-3SDB
J4 The Articulated Arm Robots RV-3SDJB, RV-3SDB

The RV-3SD robots are specially designed for handling tasks with
1 J3 J5 J5 payloads of up to 3.5 kg. They are encapsulated with an IP65 in-
J3 gress protection rating for operation in extreme environments.
ROBOTS
J6 J6 Highlights:
J2 앬 Compliance Control function to compensate for workpiece
J2
tolerances
MITSUB ISHI
J1 앬 Conveyor belt tracking
MITSUBISHI
J1
RV-3SDJB
RV-3SDB
앬 Sensorless collision detection
앬 Encapsulated design with IP65 rating
RV-3SDJB RV-3SDB 앬 Adaptive speed optimisation
Specifiactions
RV-3SDJB RV-3SDB
Degrees of freedom (no. of axes) 5 6
Machine class Standard
Installation posture Floor, wall or ceiling mounting possible (wall mounting with limitations in the J1 axis)
Drive system AC servo (all axes with brakes)
waist (J1) 340 (-170 to +170)
shoulder (J2) 225 (-90 to +135)
Operating elbow (J3) 237 (-100 to +137) 191 (-20 to +171)
range degree
wrist twist (J4) — 320 (-160 to +160)
wrist pitch (J5) 240 (-120 to +120)
wrist roll (J6) 720 (-360 to +360)
waist (J1) 250
shoulder (J2) 187
Maximum elbow (J3) 250
speed degree/s
wrist twist (J4) — 412
wrist pitch (J5) 412
wrist roll (J6) 660
Maximum composite speed mm/s 5300 5500
rated 3
Payload capacity kg
maximum 3.5
Position repeatability mm ± 0.02
Weight kg 33 37
wrist twist (J4) — 5.83
Tolerable moment wrist pitch (J5) Nm 5.83
wrist roll (J6) 3.9
wrist twist (J4) — 0.137
Tolerable inertia wrist pitch (J5) kgm² 0.137
wrist roll (J6) 0.047
Arm reachable radius (to the center point of the J5 axis) mm 641 642
Tool wiring 8 inputs/8 outputs
8 spare wires 0.2 mm² (shielded)
Tool pneumatic pipes Primary: Ø6x2 (base to forearm section)
Secondary: Ø4x8 (optional)
Gripper flange ISO 9409-1-31,5
Robot controller CR1D
Order information Art. no. 218850 218849
????
Montag, 11. Oktober 2010 13:48:50
왎 Robot Arms RV-3SDJB and RV-3SDB
RV-3SDJB 170°
ROBOTS
R319
R2
03
R6
41
65
∅70
109
102
72
322
85 300 95
R245
130 120 170°
109 104
105
81
R30
1
20
120
9
R54 R33
6 90
245
R223 5° °
13
122 120
∅5H7
R301
160 45° 4-M5
100°
350
312
∅94
115
°
137
205
50
∅20
H7
1 ,5 ∅4
113
∅3 0H
01
318 232 8
R3
330
641 450 4xØ9 Gripper flange
hole ISO 9409-1-31,5
Dimensions: mm
RV-3SDB
170°
R271
42
R2
R6
03
109
65
∅70
102
72
322
85 270 120
95
130 120
105
81
109 104
135
R1 170°
R302
76
245
R547 90
245
°
122 120
∅5H7
160 45°
135
4-M5
°
20
°
350
312
17
∅94
115
1°
205
R302
50
∅20
H7
1,5 ∅4
113
∅3 0H
8
271 330
4xØ9 Gripper flange
642 150 hole ISO 9409-1-31,5
????
Montag, 11. Oktober 2010 13:49:35
/// SPECIFICATIONS
왎 Industrial Robots RV-6SD, RV-6SDL, RV-12SD and RV-12SDL
J4 J4
The Articulated Arm Robots RV-6SD(L) and RV- 12SD(L)
Combining high speeds with maximum handling payloads of
1 J3
J5
J3
J5
6 kg and 12 kg, these robots are an ideal choice for virtually any
application.
J6
ROBOTS
J6
Highlights:
앬 Sensorless collision detection
J2 J2
앬 Conveyor belt tracking
MITSUBISHI
J1 MITSUB ISHI J1 앬 Compliance Control function to compensate for workpiece
tolerances
RV-6SD RV-6SDL
RV-6SD RV-6SDL
Specifiactions
RV-6SD RV-6SDL RV-12SD RV-12SDL
Degrees of freedom (no. of axes) 6 6 (long arm) 6 6 (long arm)
Installation posture Floor, wall or ceiling mounting possible (wall mounting with limitations in the J1 axis)
Drive system AC servo (all axes with brakes)
waist (J1) 340 (-170 to +170)
shoulder (J2) 227 (-92 to +135) 230 (-100 to +130)
elbow (J3) 273 (-107 to +166) 295 (-129 to +166) 290 (-130 to +160)
Operating range degree
wrist twist (J4) 320 (-160 to +160)
wrist pitch (J5) 240 (-120 to +120)
wrist roll (J6) 720 (-360 to +360) (expandable)
waist (J1) 401 250 276 230
shoulder (J2) 321 267 230 172
elbow (J3) 401 267 267 200
Maximum speed degree/s
wrist twist (J4) 352
wrist pitch (J5) 450 375
wrist roll (J6) 660
Maximum composite speed mm/s 9300 8500 9600 9500
rated 5 10
Payload capacity kg
maximum 6 12
Position repeatability mm ±0.02 ±0.05
Weight kg 58 60 93 98
wrist twist (J4) 12 19.3
Tolerable moment wrist pitch (J5) Nm 12 19.3
wrist roll (J6) 4,5 11
wrist twist (J4) 0.29 0.4
Tolerable inertia wrist pitch (J5) kgm² 0.29 0.4
wrist roll (J6) 0.46 0.14
Arm reachable radius (to the center point of the J5 axis) mm 696 902 1086 1385
Tool wiring 8 inputs/8 outputs, 6 spare wires 0.1 mm² (shielded)
Tool pneumatic pipes Primary: Ø 6x2 (base to fore arm section) Primary: Ø 6x2 (base to fore arm section)
secondary: Ø 4x8 secondary: Ø 4x8
Supply pneumatic pressure MPa (bar) 0.49 ± 10 % (4.9 ± 10 %)
Gripper flange ISO 9409-1-31,5 ISO 9409-1-40
Protection rating IP54 (J1 to J3), IP65 (J4 to J6)
Robot controller CR2D CR2D
Order information Art. no. 214965 218866 218852 218853
????
Montag, 11. Oktober 2010 13:50:56
왎 Robot Arms RV-6SD and RV-6SDL
RV-6SD
170°
R2
170°
11
77 84
85
51,5
54
70
78 73
200
110
ROBOTS
58,5
61
R5
02
26
R2
85 315 85
308 238
R2
85
R280
96
162 165
R6
80
R2
87
R2
100
280
961
R3
5°
3
92°
1
13
170°
170°
594
R173
421
350
294
R 611
45°
ø5H7
R331
179
17
°
204 4–M5
115
76°
ø31,5
204
160
444
122
437 258 474
ø20h7
4xØ9 96 ø40h8
hole
102,5
205 Gripper flange

115 140 ISO 9409-1-31,5
Dimensions: mm
RV-6SDL
170°
R2
170°
11
77 84
85
51,5
54
70
78 73
200
110
58,5
61
R7
32
85
R1
85 425 85
403 333 R2
85
162 165
02
R9
R3
80
88
R3
100
1167
70
R4 R2
380
170°
92 37
° 170°
°
649
135
476
R437
R81
7 98
350
R1 45°
ø5H7
100
4–M5
39°
R4
115
37
76°
355
ø31,5
204
160
204
122
617 285 185 547

ø20h7
4xØ9 96 ø40h8
hole 102,5
205
Gripper flange
115 140
ISO 9409-1-31,5
????
Montag, 11. Oktober 2010 13:51:34
/// DIMENSIONS AND MOVEMENT RANGES
왎 Robot Arms RV-12SD and RV-12SDL
RV-12SD
R3
170°
03
1 50
88 93 170°
89
ø88
130
140
214
ROBOTS
R7
86
05
R2
89
97 530 150
130
569 349 R4
16
086
R1
215 164
161
00
R4
80
170°
R4
00
170°
55
R3
1386
R2
400
66
R936
0° R5
13 36
10
784
45°
0°
ø6H7
646
4 - M6
150
450
40°
ø40
270
250
R53
155
230
R5
70°
6
156
36
343
ø25h7
≥ 200
100 ø50h8
125
4xØ14 250
670 416 205 581
hole Gripper flange
155 150
ISO 9409-1-40
Dimensions: mm
RV-12SDL
R3
170°
03
88 93 170°
50
89
ø88
130
140
214
R1
08
5
17
R3
89
130
97 670 150
R4
690 470 57
385
R1
215 164
161
60
R5
80
170°
R5
170°
60
67
R4
1685
R3
560
07
R123
5 0° R6
13 73
10
854
45°
0°
ø6H7
716
4 - M6
150
450
40°
ø40
270
250
R67
155
R6
230 70°
322
5
75
585
ø25h7
≥ 200 100 ø50h8
125
4xØ14
250
928 457 317 768
hole Gripper flange
155 150
ISO 9409-1-40
????
Montag, 11. Oktober 2010 13:52:16
/// SPECIFICATIONS
왎 Industrial Robots RH-6SDH, RH-12SDH and RH-20SDH
The SCARA Robots RH-6SDH, RH-12SDH and RH-20SDH

Assembly, handling and palletising are the strengths of these 6 kg
J1
and 12 kg SCARA robots. A version with an 20 kg payload capacity 1
is available for handling particulary heavy loads and for special ap-
plications Cleanroom- and Moisture Models are also available for
ROBOTS
every payload.
J3
Highlights:
RH-6SDH
앬 Slim design
J2
앬 6/12/20 kg payload capacity
앬 Speeds up to 11200 mm/s with axis interpolation
J4 앬 High Repeatability from 0.02–0.025 mm (x/y)
앬 Palletizing Function
Specifications
RH-6SDH5520 RH-12SDH8535 RH-20SDH8535
Structure SCARA
Installation posture Floor mounting
Drive system AC servo
Brake attachment J1, J2, J4 axes: without brake, J3 axis: with brake J1, J2 axes: without brake,
J3, J4 axes: without brake
Payload capacity rated 2 2 5
(hand gripper included) kg
maximum 6 12 18
Maximum reach arm 1 + arm 2 mm 550 (350/450) 햲 850 (550/700) 햲 850 (1000)
Leadscrew travel mm 200 햴 350 햳 350 햳
J1 degree 254 (±127) 280 (±140) 280 (±140)
J2 degree 290 (±145) 306 (±153) 306 (±153)
Operating range
J3 (Z) mm 200 (97–297) 350 (-10–340) 350 (-10–340)
J4 (θ axis) degree 720 (±360) 720 (±360)
J1 degree/s 375 288 288
J2 degree/s 612 412.5 412.5
Maximum speed
J3 (Z) mm/s 1177 1300 1200
J4 (θ axis) degree/s 2411 1500 1500
Maximum composite speed mm/s 7782 (J1, J2 and J4) 11221 (J1, J2 and J4) 11221
6003 (J1 and J2) 6612 (J1 and J2)
Allowable wrist moment rated 2 0.01 0.02 0.02
of inertia kgm
maximum 0.04 0.1 0.1
X, Y direction mm ±0.02 ±0.025 ±0.025
Position repeatability J3 (Z direction) mm ±0.01 ±0.01 ±0.01
J4 (θ axis) degree ±0.02 ±0.03 ±0.03
Weight kg 21 45 47
Tool wiring 8 inputs/8 outputs/8 spare wires
Tool pneumatic pipes Ø 6x2
Robot controller CR1D CR2D CR2D
Order information Art. no. 219008 219009 219010

햲
Other available units
햳
Available with 350 or 450 mm leadscrew travel
햴
Available with 200 or 320 mm leadscrew travel
????
Montag, 11. Oktober 2010 13:52:59
왎 Robot Arms RH-6SDH, RH-12SDH
RH-6SDH
1
ROBOTS
Z Z
160
(10)
30
10 (10)
∅20H7
∅39.5
19
∅14 19
Z
92
180
150
92
150
180
A 4xØ9
hole
Dimensions: mm
RH-12SDH
Z Z
(10)
30
10
(10)
∅25H7
∅50
24
∅18 24
122
240
200
A
122
240
200
4xØ16
hole
????
Montag, 11. Oktober 2010 13:53:44
/// DIMENSIONS AND MOVEMENT RANGES
왎 Robot Arms RH-20SDH
RH-20SDH85xxM
ROBOTS
Z Z
10
8
10
30
10
11
?Ó32h7
?Ó60
31
30
?Ó23
4N9
122
240
200
122
240
200
4- ?Ó16
RH-20SDH100xxM
Z Z
10
8
10
30
10
11
?Ó32h7
?Ó60
31
30
?Ó23
4N9
122
240
200
122
240
200
4- ?Ó16
017-018.prn 17
????
Montag, 11. Oktober 2010 17:48:07
/// SPECIFICATIONS
왎 Industrial Robots RP-1AH, RP-3AH and RP-5AH
The SCARA Robots RP-1AH, RP-3AH and RP-5AH

J2 J1
The RP-1AH, RP-3AH and RP-5AH SCARA robots are in their
1 element in all applications calling for fast and precise placement
MITSUBISHI
of components in limited space. The unique mechanical design
RP-1AH
of these robots gives them a significant edge for improved
ROBOTS
productivity and micro-handling quality.

J4
Highlights:
앬 Repeatability ±0.005 mm (RP-1AH)
앬 Footprint just 200 x 160 mm (RP-1AH)
J3
앬 Pick & Place cycle time < 0.5 s
Specifications
Characteristics/Function
RP-1AH RP-3AH RP-5AH
Installation posture Floor mounting
Drive system AC servo
Brake attachment All axes
rated 0.5 1.0 2.0
Max. load capacity kg
maximum 1.0 3.0 5.0
width × depth mm 150x105 (DIN-A6) 210x148 (DIN-A5) 297x210 (DIN-A4)
Operating vertical mm 30 50
range
twist degree ±200
J1/J2 degree/s 480 432
Maximum J3 mm/s 800 960
speed
J4 degree/s 3000 1330
kgm2 3.10x10-4 1.60x10-3 3.20x10-3
2
Inertial moment wrist

X, Y direction mm ±0.005 ±0.008 ±0.01
Position repeatability Z direction mm ±0.01
direction of the wrist twist degree ±0.02 ±0.03
Weight kg 12 24 25
Tool wiring 8 inputs/8 outputs
Tool pneumatic pipes —
Robot controller CR1
Order information Art. no. 134183 131626 131628
017-018.prn 18
????
Montag, 11. Oktober 2010 17:48:13
왎 Robot Arms RP-1AH, RP-3AH and RP-5AH

198
RP-1AH 22
36
34
(162)
120
107
R3
24
R3
6
,5
95
0,5
6)
0,5
0 (5
14 8
4
2
12
10
56
5
5.5
233,9 ø6h7
ROBOTS
M6
140
155
165
ø8
105 100
133
150
162
56
ø18
95 5,5 0,5
R3
38
5,5
140
61
56
100
28 76
110° (5 120
,5
6) 180 24,2
R30
4xØ7
,5
24
A 224,9
32 hole
80
160°
100
150
M5
8
B
ø18
110 ø8
36,5 °
R2
31
95
0
230
180
R14
177
0
R14
31
B
77 6
85
A
24
30
21
50 (213)
RP-3AH 31 31 85
36 141
12
8 125
6)
(8 82,5 100
5,5
0
20
5
28
(38)
30
11 8
332 86
148 20 130 ø14h7
140
165
ø15h7
155
170
200
216
(ø23)
85
50
200 R42
13,5
84
120
105°
13,5
86 180
224,9
28
160° A 20
0
4xØ9
(8 0 hole
6) 14
210
36
13,5
B
110 Dimensions: mm
13,5
35 °
R3
42
0
R20
118
(ø23)
0
R20
280
ø15h7
267
180
261
42
ø14h7
ø11
3,5
103,5
77 6
15
(23)
50
40
A
(12)
263
50 (213)
RP-5AH 31 31 85
36 141
) 8 125
16
12
(1 82,5 100
260
5,5
28
5
(38)
450,9
30
11 8
210 190 6
11
170
50 ø14h7
140
165
155
ø15h7
260
170
200
216
85
(ø23)
105° R42
13,5 84
120
11
13,5
160°
6 180
297
224,9
28
A 26
0
4xØ9
(1 0 hole
16 20
)
36
110
°
13,5
53,2
R4
B
13,5
0
R26
42
(ø23)
118
ø15h7
280
267
180
261
ø14h7
42
ø11
3,5
103,5
77 6
15
(23)
50
40
(12)
????
Montag, 11. Oktober 2010 13:55:55
/// ROBOT CONTROLLER
왎 Controller Overview
Powerful Controllers CR1, CR1D, CR2D and CR3D

Which controller is used depends on the The D-Controller has already implemented There is also an RS-232C port beside the
specific robot model. But the CR1, CR1D, some functions like Ethernet- and USB- and Ethernet-Port in the D-Controller
CR2D and CR3D are all programmed with USB-Connection, Additional Axes Control for connecting a personal computer. This
exactly the same language, no matter which over SSCNET III and Tracking Encoder inter- makes it possible to develop programs
robot is connected to them. You can add face as a standard. with a powerful PC software package with
special application functions by inserting A teaching box for defining the robots’ a user-friendly interface, and to perform 3D
2 expansion option cards in the slots in the
controllers. For example, there are option
working positions can be connected to the
controller’s RS-422 port. The teaching box
simulations of complete work cells.
cards for connecting the controllers to dif- can also be used for testing the entire pro-
ferent networks and for controlling addi-
CONTROLLER
gram sequence.
tional robot axes.
CR3D-700
MITSUBISHI
ON
ED
P
IP
TR
OFF
T
SE
RE
CR3D-700
MITSUBISHI
EMG.STOP
CHANG DISP
STATUS NUMBER UP
8.8.8.8.8. DOWN
START RESET
MODE SVO.ON
REMOVE T/B
STOP END
SVO.OFF
CR1
MITSUBISHI
CR1-571 CR1D-700/CR2D-700 CR3D-700M

With a footprint not larger than a DIN A4 The controller units control the robots The IP54 controller is for the RV-12SD/
sheet of paper the CR1-571 can be used movements: 12SDL robots and like them it is designed
to control the following robots: CR1D CR2D for use in heavy-duty conditions.
앬 RV-1A 앬 RV-2SDB RV-6SD/6SDL The programming language and options
앬 RV-2AJ are the same for the CR2D controller.
앬 RV-3SDB/3SDJB RV-12SD/12SDL
앬 RP-1AH/3AH/5AH
It uses a three-phase, 400 V AC power supply.
앬 RH-6SDH RH-20SDH
The controller comes with 16 general The controllers have slots for system
inputs and outputs that can be expanded expansion options. It uses a single-
up to a maximum of 240. It uses a single- phase, 180–253 V AC power supply.
phase, 180–253 V AC power supply.
왎 System Configuration
The illustration on the left shows the basic

configuration of a robot system with the
following components:
Robot arm 앬 RV-6SD robot arm
앬 CR2D controller
앬 5 m controller connection cable set
Cable set 앬 R32TB teaching box
Mitsubishi Electric offers a wide range of
optional accessories with which you can
Controller configure your robot system for the individ-
ual requirements of your application. An
EMG.STOP
MITSUBISHI
CR2B CHANG DISP
STATUS NUMBER UP
8.8.8.8.8. DOWN
START RESET
MODE SVO.ON
SVO.OFF STOP END

REMOVE T/B
overview of the available options

MITSUBISHI
can be found on page 21 and there is a
detailed list on page 32.
F3 F4
F1 F1
–X +X
Teaching box –Y
–Z
–A
–B
–C
+Y
+Z
+A
+B
+C
020-021.prn 20
????
Montag, 11. Oktober 2010 17:51:42
ROBOT CONTROLLER ///
왎 Controller Specifications
Characteristics/Functions CR1-571 CR1D, CR2D CR3D-700M

Number of controllable axes 6 robot axes + 2 interpolation axes + 6 independent axes
Processor type (CPU) Main CPU: 64 Bit RISC; servo CPU: DSP
number of teaching points Max. 2500 position teaching points, max. 5000 steps
Memory capacity and program steps
number of programs 88
Programming languag MELFA-BASIC IV or MELFA-BASIC IV or MELFA BASIC V MELFA-BASIC IV or MELFA BASIC V
MOVEMASTER COMMAND
general purpose I/Os
dedicated I/Os
16 inputs and 16 outputs
User assigned from general purpose I/O
2
8 inputs and 0 outputs 8 inputs und 0 outputs 8 inputs und 0 outputs
hand open/close (up to 4 output points can be added (up to 8 output points can be added (up to 8 output points can be added
CONTROLLER
External inputs/outputs as an option) as an option) as an option)
Terminal block with screw terminals for the con- Terminal block with screw terminals for the con-
emergency stop I/Os 1 nection of a redundant EMERGENCY STOP switch nection of a redundant EMERGENCY STOP switch
compliance DIN ISO 10218 (2066) compliance DIN ISO 10218 (2066)
door switch input 1 1 1
RS232C/USB 1 interface for PC 1 interface for PC/USB 1 interface for PC/USB
RS422 + Ethernet 1 interface for teaching box 1 interface for Teaching Box 1 interface for Teaching Box
slot dedicated for hand 1 interface card for pneumatic hand 1 interface card for pneumatic hand 1 interface card for pneumatic hand
extension slot For 3 expansion options (optional) CR1D: 1, CR2D: 3 For 2 expansion options
Interface memory expansion slot — 1 memory option 1 memory option
Ethernet — 1 for communication device (PC, Camera) 1 for communication device (PC, Camera)
Additional Axes — 1 for optical SSCNET 3 1 for optical SSCNET 3
Tracking Encoder — 2 for encoder input 2 for encoder input
robot I/O link 1 channel (expansion to up to 240 inputs and 1 channel (expansion to up to 256 inputs and 1 channel (expansion to up to 256 inputs and
240 outputs possible) 256 outputs possible) 256 outputs possible)
Power supply 1-phase 90–132 V AC; 50/60 Hz; 0.7 kVA 1-phase 90–132 V AC; 50/60 Hz; 3-phase 400 V AC; 50/60 Hz; 3.0 kVA;
1-phase 180–253 V AC; 50/60 Hz; 0.7 kVA 0.5 kVA CR1D; 2.0 kVA CR2D
Ambient temperature 0 to 40 °C
Ambient humidity 45 to 85 % without condensation
Grounding Via seperate terminal; earth resistance ≤ 100 Ω
Mounting Self-contained floor type/closed structure Self-contained floor type/closed structure, vertical Self-contained floor type/closed structure
Dimensions (W x H x D) mm 212 x 166 x 290 CR2D: 468x200x408; CR1D: 270x290x200 450x975x380
Weight kg 8 CR2D: 20; CR1D: 9 60
왎 Controller Dimensions
30 210 30 35 450
EMG.S TOP
STATUS NUMBER CHANG DISP MITSUBISHI CR3D-700
UP
DOWN
45
MODE SVO.ON RT
A STRESET
185
200
151
REMOVE T/B
200
SVO.OFF STOP END
MITSUBISHI CR1
CR2D-700
4 - M5
15
7
45 310 45
31
31 150
15
(24) 408 (36)

2,5 212 2,5
975
468
8
8,5 193 8,5

MITSUBISHI CR3D-700
212 408
66
75
380
15 420 15
290
290
401
333
380
22
67
32
20
CR1-571 CR1DA-700 CR2D-700

450
All dimensions in mm
CR3D-700M
020-021.prn 21
????
Montag, 11. Oktober 2010 17:52:36
/// SYSTEM OVERVIEW
왎 System Components and Options for RP-Series
MITSUBISHI
Software:
MELFA-Vision/Works
NC AC-Servos PLC Sensors RT Toolbox2
3
Control cards
ACCESSORIES
Expansion option cards PC

Electric for:
gripper Ethernet,
hand
CC-Link,
Profibus
Pneumatic serial expansion,
gripper additional axis,
hand
conveyor belt
Expansion I/Os monitoring
Teaching
box
UP
8.8.8.8.8 DOWN
P E
TO
-S
TO P
E-S
TEACH
E-STOP
CR1
MITSUBISHI POWER
TB ENABLE
HAND JOG
STOP
SERVO
RESET
CAUTION
HOME
EXE
OVRD
OK CANCEL
Adaptor cables CR1

MENU
MITSUBISHI
MITSUBISHI
RP-1AH
RP-AH
Electric Pneumatic Gripper curl

gripper gripper tubes
Gripper
signal cable
Pneumatic valves
????
Montag, 11. Oktober 2010 13:59:29
SYSTEM OVERVIEW ///
왎 System Components and Options for RV-6SD/6SDL/12SD/12SDL and RH-12SDH/6SDH/18SDH
Software:
MELFA-Vision/Works
RT Toolbox2
GOT NC AC-Servos PLC Sensors
ACCESSORIES
Control cards Expansion option cards PC
for:
CC-Link,
Profibus
Inputs and outputs
Pneumatic gripper
hand
Expansion I/Os
Teaching
box
Adaptor cables
Pneumatic Gripper curl

gripper tubes
Gripper
signal cable Pneumatic valves
????
Montag, 11. Oktober 2010 13:59:32
/// TEACHING BOX AND HANDSETS
왎 Teaching Box for RP Series
Operation and Programming

The R46TB teach panel is a multifunctional control and programming terminal for all
Mitsubishi A and S series robots. Its intuitive user interface makes it easy to control robot
movements and perform extensive diagnostics and monitoring functions for users of all lev-
DISABLE ENABLE
R28TB
R28TB
TOOL JOINT XYZ MENU

MENU
els. All safety-critical functions such as robot movements are assigned to keys. Programming
STOP
STOP
and monitoring functions are accessed and adjusted quickly and easily via the bright 6.5"
( )? $": #
#%% !!
=*/
SVO ON
SVO ON
- X
X +
+ XX
STEP
STEP (J1)
(J1) (J1)
(J1)
PQR
PQR .. ‘;^
‘;^
MOVE
SPACE
MOVE SPACE
ADD
ADD
- Y +
+ YY
touchscreen display.
Y −
−
+ (J2)
(J2) (J2)
(J2)
44 MNO
MNO 99 &<>
&<>
FORWD
FORWD RPL
RPL
- ZZ +
+ ZZ ¯¯
- (J3)
(J3) (J3)
(J3)
JKL
JKL 88 ,@¥
,@¥
BACKWD
BACKWD 33
DEL
DEL
- AA +
+ AA ¬
¬
COND (J4)
(J4) (J4)
(J4)
In addition to controlling robot movements the terminal has many other functions: For ex-
COND 77 YZ_
YZ_
22 GHI
GHI
HAND
HAND
- B
B +
+ BB ®
®
POS
POS (J5)
(J5)
(J5)
(J5)
CHAR
CHAR 11 DEF
DEF 66 VWX
VWX
INP
INP
- C
C +
+ CC
ERROR (J6)
(J6)
ample, writing programs with a virtual on-screen keyboard and monitoring all system status
ERROR (J6)
(J6) EXE
EXE
RESET 55 STU
STU
RESET 00 ABC
ABC
parameters, inputs and outputs, including those accessed via the network.
P E
The R46TB’s flexible monitoring function enables the display of all important system parame-
TO
-S
TO P
E-S
TEACH
ters. Access to production data like the number of work cycles, the average cycle time and
R28TB
3
E-STOP
many other parameters make it easy to get a quick overview of the production situation.
POWER
TB ENABLE
HAND JOG
STOP
SERVO Extensive analysis functions for checking robot workload also make it easy to optimise
RESET
CAUTION
your robot applications and minimise cycle times.
ACCESSORIES
HOME
OVRD
EXE
Screen input templates make it easy to enter the parameters for grippers and workpieces for
MENU
OK CANCEL quick system optimisation. Entering the reference points data when you install the system
MITSUBISHI
just takes a few minutes, then the robot is ready for programming.
R46TB
Specifications R46TB R28TB

Compatibility All Mitsubishi A and S series robots
Functions Operation, programming and monitoring Position teaching, JOG feed,
of all robot functions program control and editing
Read out information, also during operation; program edit-
ing with virtual keyboard; display up to 14 lines of program Program and parameter editing.
Programming and monitoring code; I/O monitoring for up to 256 inputs and 256 outputs; Maintenance functions and moni-
service display with information on maintenance intervals; toring.
error display with details of the last 128 alarms
Software Integrated operating system software with Integrated system OS
menu-based user interface
Menu navigation (language) German, English, French, Italian Japanese, English
type/dimensions 6.5" TFT display (640 x 480 pixels) LCD with 4 lines x 16 characters
Display (with backlight illumination)
technology Touchscreen with backlight
Interfaces USB, RS-422 for connection to the robot controller RS422
Connection Direct connection to the robot controller, cable length 7m 7m
Protection rating IP54 IP65
Weight [kg] 1.25 Approx. 0.5 kg (without cable)
????
Montag, 11. Oktober 2010 14:00:38
TEACHING BOX AND HANDSETS ///
왎 Teaching Box for RV-SD and RH-SDH Series
TO
P E
Operation and Programming
-S
TO P
E-S
TEACH
E-STOP
The R56TB teach panel is a multifunctional control and programming terminal for all
Mitsubishi SD serie robots. Its intuitive user interface makes it easy to control robot move-
POWER
TB ENABLE
HAND JOG
STOP
SERVO
ments and perform extensive diagnostics and monitoring functions for users of all levels.
RESET
CAUTION
All safety-critical functions such as robot movements are assigned to keys. Programming
OVRD
HOME
EXE
and monitoring functions are accessed and adjusted quickly and easily via the bright 6.5"
touchscreen display.In addition to controlling robot movements the terminal has many
OK CANCEL
MENU
MITSUBISHI
other functions: For example, writing programs with a virtual on-screen keyboard and
monitoring all system status parameters, inputs and outputs, including those accessed via
R56TB
MITSUBISHI
the network.
Specifications
Compatibility
R56TB
All Mitsubishi SD serie robots
R32TB
3
Functions Operation, programming and monitoring of all Operating, programming and monitoring of
robot functions robot functions
ACCESSORIES
Read out information, also during operation; pro- Read out information, also during operation,
gram editing with virtual keyboard; display up to program editing with T9-Key standard, super-
R32TB Programming and monitoring 14 lines of program code; I/O monitoring for up to vising of I/Os, display of error alarms,
256 inputs and 256 outputs; service display with Right-/Left-Hand usage, 36 keys for operation
information on maintenance intervals; error dis- selection
play with details of the last 128 alarms
Software Integrated operating system software with
menu-based user interface
Menu navigation (language) German, English, French, Italian English, Japanese
type/dimensions 6.5" TFT display (640 x 480 pixels) Monochrome LCD graphic display
Display (24 characters x 8 lines
technology Touchscreen with backlight LCD with backlight
Interfaces USB, RS-422 for connection to the robot controller RS-422 for connection to the robot controller
Connection Direct connection to the robot controller, Direct connection to the robot controller,
cable length 7m cable length 7 m
Protection rating IP54 IP65
Weight [kg] 1.25 0.9
왎 Hand Sets
Tools
The pneumatic gripper is available in a set
consisting of the gripper, spiral pneumatic
hose, interface, one-way valve and
adapter. It has a service life of 10 million
gripping cycles. The gripper is fitted with
sensors that provide feedback information
on the current gripper position.
Specifications 4A-HM01 4A-HP01E

Drive DC servo motor Oil-free compressed air
Grip force 4.9–68.6 N —
Operating preassure range — 0.4–7.0 bar
Operating temperatur range 0–40 °C 0–40 °C
Ambient humidity 45–85 % —
Life 1 mio. gripper cycles (at 100 % load) 10 mio. gripper cycles
10 mio. gripper cycles (at 50 % load)
Operation confirmation sensors None Open edge and close edge
Weight [kg] 0.59 (includes the adapter) 0.45 (includes the adapter)
????
Montag, 11. Oktober 2010 14:02:39
/// VALVE SETS
왎 Solenoid Valve Sets
Solenoid Gripper Control Valve Sets

This option is used to control the gripper tool installed on the robot arm. The valve set
comes with all the components required for installation, including the branch manifold,
couplings and dampers. The valves are fitted with plug-in control cables for quick and easy
wiring.
The solenoid valve sets are for use with oil-free compressed air.
3 1A-VD0첸E-RP RV-E-1E-VD0첸E
Specifications
1 2 3 4 1 2
ACCESSORIES
No. of valves 1 2 3 4 1 2
Range of use (robot type) AH A
Valve function Double solenoid Double solenoid
Operating method Internal pilot method Internal pilot method
Effective sectional area 1.5 mm 1.5 mm
(CV value)
Operating preassure range 2–7 bar 2–7 bar
Maximum preassure 10 bar 10 bar
Response time < 12 ms at 24 V DC <12msat24VDC
Max. operating frequency 5 Hz 5 Hz
Ambient temperature -5 to +50 °C -5 to +50 °C
Coil rated voltage 24 V DC ± 10 % 24 V DC ± 10 %
Order information Art. no. 129780 129781 129792 129793 47397 47398
1S-VD0첸E-01 1S-VD0첸E-02 1S-VD0첸ME-03 1S-VD0첸ME-04

Specifications
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
No. of valves 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
Range of use (see page 38) 12SD/12SDL 3SD/6SD 12SDH 6SDH
Valve function Double solenoid Double solenoid Double solenoid Double solenoid
Operating method Internal pilot method Internal pilot method Internal pilot method Internal pilot method
Effective sectional area 0.64 mm 0.64 mm 0.64 mm 0.64 mm
(CV value)
Operating preassure range 1–7 bar 1–7 bar 1–7 bar 1–7 bar
Maximum preassure 10 bar 10 bar 10 bar 10 bar
Response time < 22 ms at 5 bar < 22 ms at 5 bar < 22 ms at 5 bar < 22 ms at 5 bar
Max. operating frequency 5 Hz 5 Hz 5 Hz 5 Hz
Ambient temperature -5 to +50 °C -5 to +50 °C -5 to +50 °C -5 to +50 °C
Coil rated voltage 24 V DC ± 10 % 24 V DC ± 10 % 24 V DC ± 10 % 24 V DC ± 10 %
Order information Art. no. 153057 153058 153059 153062 153074 153075 153076 153077 166278 166279 166280 166281 166274 166275 166276 166277
????
Montag, 11. Oktober 2010 14:02:48
EXPANSION OPTION CARDS ///
왎 Interface Boards for Robot Controllers
Ethernet Interface
The Ethernet interface is used for ming the robot controller and for external,
high-speed network communications with real-time control of the robot itself.
other controllers and TCP/IP-enabled pe-
ripherals. It can also be used for program-
Specifications 2A-HR533E
Application Ethernet interface; TCP/IP
Type Built-in board
Range of use RP-Series
LAN interface 10BASE-5, 10BASE-T (selectable)
2A-HR575E
Connector RJ-45
Transmission speed 10 Mbps 3
2D-TZ576
ACCESSORIES
CC-Link Interface Specifications 2A-HR575E 2D-TZ576
The 2A-HR575E interface makes it pos- Application CC-Link interface
sible to integrate the CR첸-R robot con- Type Built-in board
troller in
Range of use RP-Series RV-SD and RH-SDH
a CC-Link network.
Communications cable Shielded 3-core twisted cable
The 2D-TZ576 interface makes it possi-
ble to integrate the CR첸-D robot con- Max. number of I/O points and 126 I/Os/16 data register
data registers
troller in
Refresh rate 7.2 ms
a CC-Link network.
Max. transmission length 100 m at 10 Mbps, 150 m at 5 Mbps, 250 m at 2.5 Mbps,
600 m at 0.62 Mbps, 1500 m at 0.15 Mbps
PROFIBUS Interface Specifications 2A-RZ577A) 2D-TZ577

These interface cards make it possible Application PROFIBUS/DP interface
to integrate the robot controller in a Type Built-in board
PROFIBUS network.
Range of use RP-Series RV-SD and RH-SDH
Communications cable Twisted pair cable
1200 m at 9.6/19.2/93.75 Kbps,
Communications 1000 m at 187.5 Kbps,
distances 400 m at 500 Kbps,
200 m at 1500 Kbps
Max. no. of communications words 122
No. of mountable interface cards 1
Serial Expansion Interface Specifications 2A-RZ581E

The 2A-RZ581E interface card adds ad- Application Serial extension
ditional serial inputs to the controller. Type Built-in board
In addition to this the card also pro-
vides two encoder signal inputs for reg- Range of use RP-Series
istering the speed of conveyor belts for Connections 1 x RS232, 1 x RS422, 2 encoder inputs
the tracking function. No. of mountable interface cards 2
????
Montag, 11. Oktober 2010 14:03:35
/// EXPANSION OPTION CARDS
왎 Interface Boards for Robot Controllers
I/O Interface Specifications 2A-RZ371 2D-TZ378
All the robot controllers have an I/O in- Application Interface for additional inputs/outputs
terface with at least 16 inputs and out- Type Decentralized I/O box with 32 inputs and Slot-In Card with 32 Inputs and 32 Outputs
32 outputs
puts as standard equipment. You can
increase the number of I/Os to a maxi- Range of use RP-Series RV-SD and RH-SDH
mum of 256 (depends on controller Rated load voltage Inputs: 12 V/24 V; outputs: 12 V/24 V, max. 0.1 A/per output
model) by adding 2A-RZ371 interface Max. no. of usable I/O boxes 7 2
modules.
The D-Controller has 32 inputs and
outputs as standard equipment. You
can increase the number of I/Os inter-
nally to 96 by adding 2D-TZ378 slot-in
cards.
3 Specifications 2A-RZ541E
Additional Axis Interface
Application Controller board for additional axes
The 2A-RZ541E interface card enables
ACCESSORIES
the controller to control additional Type Built-in board

axes. It can then control up to two ad- Range of use RP-Series
ditional axes, interpolating them with Connections SSCNET x 1 channel
the robot’s own axes. The additional Max. no. of control axes 8
axes can be connected to configure
No. of mountable interface cards 1
two 3-axis systems.
Encoder type Absolute
Pneumatic Hand Interface Specifications 2A-RZ375

Application Interface for pneumatic hand (pneumatic valves)
The 2A-RZ375 interface card is used to
operate the robot’s pneumatic gripper. Type Built-in board
It controls the solenoid valve set (see Range of use All MELFA robots
page 30). Connections Up to 4 pneumatic valves
????
Montag, 11. Oktober 2010 14:03:40
ADAPTOR CABLES AND CONNECTORS ///
왎 Gripper Signal Cables
Connection Cables
A variety of different cables are available One end of the cable set is fitted with a plug
for connecting the control and status for the gripper’s sensor signals. The other
monitoring signals of the gripper tools. end is without connectors and can be wired
When the pneumatic gripper is used you as required for your system.
need to monitor the position of the gripper.
You should thus always connect a gripper
signal input cable when you use the pneu-
matic gripper.
Specifications 1A-GR200-RP 1A-HC200-RP 1S-GR35S-01 1S-GR35S-02 1S-HC35C-02 1S-HC25C-01

Type Hand signal
output cable
Hand signal
input cable
Hand signal
output cable
Hand signal
output cable
Hand signal
input cable
Hand signal
input cable
3
Range of use (robot type) AH AH SD SDH SD/SDH SD/SDH
ACCESSORIES
Design Custom-made Custom-made Single sided with Single sided with Single sided with Single sided with
connector connector connector connector
Application Custom-made Monitoring of the gripper Pneumatic gripper Pneumatic gripper Monitoring of the gripper Monitoring of the gripper
magnetic valve set condition condition condition
No. of cores 9 10 12 12 12 12
Length 2000 mm 2000 mm 400 mm 350 mm 1200 mm 800 mm
왎 Connectors and Valve Signal Cables
The Connection to Your System

Choose additional components to config- The connectors listed in the following table
ure the optimal interface between the can be used for making your own cables
robot system and your application. for the gripper input and output signals
The wide range of options makes it possible (see also the table above).
to configure the robot precisely for the
individual requirements of your application.
Specifications R-SMR-09V-B R-SMR-10V-N R-SMR-02V-B SD series Hand SD series Hand

OUTPUT INPUT
Type Gripper Gripper Valve Hand signal Hand signal
output connector output connector connector output connector input connector
Range of use (robot type) A/AH AH 2SD SD/SDH SD/SDH
Design Black, 9 pins White, 10 pins 2 pins 8 pins 6 pins
Shipping contents Plug Plug Plug Plug Plug
and contacts and contacts and contacts and contacts and contacts
Order information Art. no. 132112 132113 143798 164814 164815
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Montag, 11. Oktober 2010 14:04:31
/// TUBES AND MACHINE CABLES
왎 Hand Curl Tube
Replacement Gripper Hoses

These spiral hoses are for use with the pneumatic gripper. They are also suitable for use
with clean room robots.
Specifications RV-E-1E-ST0402C RV-E-1E-ST0404C

Type Spiral hose Spiral hose
Range of use (robot type) All All
Application For single pneumatic gripper For double pneumatic gripper
Dimensions 2xØ 4 mm 4xØ 4 mm

3
ACCESSORIES
왎 Drag Chain Cable
Cables for Flexible Robot Deployment

The standard cable for connecting the ro- installation.
bot arm to the controller is 5m long and You can also replace the standard connec-
can only be used for fixed installation. You tion cables with longer ones if necessary.
must use the special cable sets listed in the
table below if you need flexible power and
signal cables for installation in a drag chain
Specifications Cable Flex 5 m Cable Flex 15 m

Type Flexible drag chain cable
Range of use (robot type) AH
Minimum bending radius More than 100 mm
Cable bear isovolumetric ration ≤ 50 %
Max. movement speed 2000 mm/s
Protection rating Oil-proof specification sheath
No. of cores power cable 10
No. of cores signal cable 6/1 (7 total)
Length m 5 15
????
Montag, 11. Oktober 2010 14:06:01
EXTENSION CABLES ///
왎 Extension Cables for Robots and Controllers
Extension Cables for Power and Signal Connections

These power and signal extension cables Use the flexible versions for installation of
make it possible to increase the distance the cables in drag chains and similar config-
between the controller and the robot arm. urations. You can also use these cables to
Versions are available for either flexible extend the length of the standard cables
and fixed routing of the cables between supplied with the robot.
the controller and the robot arm.
Specifications 1S-05CBL-01 1S-10CBL-01 1S-15CBL-01 1S-05CBL-03 1S-10CBL-03 1S-15CBL-03

Type
Range of use (robot type)
Extension cable for a fixed installation in a drag chain
6SD/6SDL/12SD/12SDL/12SDH/18SDH 2SD/3SD/6SDH
3
ACCESSORIES
Guidance of life count —
No. of cores power cable 1 1
No. of cores signal cable 1 1
Length m 5 10 15 5 10 15
Specifications 1S-05LCBL-01 1S-10LCBL-01 1S-15LCBL-01 1S-05LCBL-03 1S-10LCBL-03 1S-15LCBL-03

Type Extension cable for a flexible installation in a drag chain
Range of use (robot type) 6SD/6SDL/12SD/12SDL/12SDH/18SDH 2SD/3SD/6SDH
Cable bear isovolumetric ration ≤ 50 %
Guidance of life count 7.5x106
No. of cores power cable 3/6 (9 total) 10
No. of cores signal cable 6/1 (7 total) 5/1/1 (7 total)
Length m 5 10 15 5 10 15
????
Montag, 11. Oktober 2010 14:06:55
/// EXPANSION AND CALIBRATION
왎 Connection Cables for PCs and Inputs/Outputs
Connection Cables, Connectors

The RV-CAB첸 cable is for establishing an connector for the controller’s parallel I/O
RS-232C serial connection between the ro- port. The other end is supplied without a
bot controller and a personal computer. connector so that you can connect the ap-
The RV-E I/O connection cable is for con- propriate connectors for your equipment.
necting peripherals to the parallel I/O inter-
face. One end of the cable is fitted with a
Specifications RV-CAB4 2A-CBL05 2A-CBL15 2D-CBL05 2D-CBL15

Type Connection cable
Serial (RS232C)
3 Application connection
PC–Controller
I/O port
Range of use RP-Series SD/SDH

ACCESSORIES
Design 9/25-pin plug Plug on one side

Length m 3 5 15 5 15
Order information Art. no. 55653 47387 59947 218857 218858
왎 Expansion Option Box
Expansion for Additional Interface Cards

This expansion box is required for the interface cards for additional robot axes).
stallation of additional interface cards in You can install up to 3 additional interface
the CR1 controller (CC-Link, Ethernet, cards in the box.
Profibus and serial interface cards and in-
Specifications CR1-EB3
Type Expansion box for interface cards
Application Controller CR1
Range of use (robot type) AH
Power supply From the controller by the RT bus coupling
Ambient temperature 0–40 °C
Ambient humidity 45–85 %
Grounding Class 3 grounding earth (via external terminal; earth resistance ≤ 100 Ω)
Structure Floor mounting
Dimensions (W x H x D) 87.5 mm x 166 mm x 290 mm
Weight Approx. 3 kg
왎 Calibration Device
Zero Point Calibration Jig

This calibration jig is used for setting the tion is used to maximise the robot’s posi-
robot arm’s zero point. Zero point calibra- tioning accuracy.
Specifications RV-E-1E-INST RH-CAL

Type Calibration device Calibration pin
Application Zero point setting with high accuracy
Range of use (robot type) A SD/SDH
????
Montag, 11. Oktober 2010 14:09:22
BATTERIEN ///
왎 Buffer batteries
Batteries
The backup batteries are used to maintain the encoder and memory power supply. One
battery supplies the control unit and up to five batteries are installed in the robot arm.
Specifications RV-2SD RV-3S... RV-6../12.. RH-6../12.. RP-1/3/5AH Art. no.

A6BAT Number — 4 5 4 3 4077
ER6BAT Number 4 1 1 1 1 131168
Q6BAT Number 1 — — — — 130376
ACCESSORIES
????
Montag, 11. Oktober 2010 14:09:34
/// GENERAL OVERVIEW
왎 Options Assignment
Option Marking RV-2SD RV-3SDJB/3SDB RV-6SD/6SDL RV-12SD/12SDL RH-6SDH RH-12SDH/18SDH RP-1/3/5AH Art. no. See page
Robot model name in catalogue — SD SD SD SD SDH SDH AH — —
Teaching Box R28TB 앬 124656 25
Teaching Box R46TB 앬 193409 25
Teaching Box R32TB 앬 앬 앬 앬 앬 앬 214968 25
Teaching Box R56TB 앬 앬 앬 앬 앬 앬 218854 25
Electrical hand set 4A-HM01 129874 25
Pneumatic hand set 4A-HP01E 129873 25
Single valve set 1A-VD01E-RP 앬 129780 26
Double valve set 1A-VD02E-RP 앬 129781 26
3 Triple valve set 1A-VD03E-RP 앬 129792 26
Quadruple valve set 1A-VD04E-RP 앬 129793 26
ACCESSORIES
Single valve set RV-E-1E-VD01E 앬 47397 26

Double valve set RV-E-1E-VD02E 앬 47398 26
Single valve set 1S-VD01E-01 앬 153057 26
Double valve set 1S-VD02E-01 앬 153058 26
Triple valve set 1S-VD03E-01 앬 153059 26
Quadruple valve set 1S-VD04E-01 앬 153062 26
Single valve set 1S-VD01E-02 앬 앬 153074 26
Double valve set 1S-VD02E-02 앬 앬 153075 26
Triple valve set 1S-VD03E-02 앬 앬 153076 26
Quadruple valve set 1S-VD04E-02 앬 앬 153077 26
Single valve set 1S-VD01ME-03 앬 166278 26
Double valve set 1S-VD02ME-03 앬 166279 26
Triple valve set 1S-VD03ME-03 앬 166280 26
Quadruple valve set 1S-VD04ME-03 앬 166281 26
Single valve set 1S-VD01ME-04 앬 166274 26
Double valve set 1S-VD02ME-04 앬 166275 26
Triple valve set 1S-VD03ME-04 앬 166276 26
Quadruple valve set 1S-VD04ME-04 앬 166277 26
Ethernet interface 2A-HR533E 앬 129809 27
CC-Link interface 2A-HR575E 앬 129808 27
CC-Link interface 2D-TZ576 앬 앬 앬 앬 앬 앬 219063 27
PROFIBUS interface 2A-RZ577A 앬 155317 27
PROFIBUS interface 2D-TZ577 앬 앬 앬 앬 앬 앬 218861 27
Serial expansion 2A-RZ581E 앬 129807 27
I/O interface 2A-RZ371 앬 124658 27
I/O interface 2D-TZ378 앬 앬 앬 앬 앬 앬 218862 27
Additional axis interface 2A-RZ541E 앬 129801 27
Pneumatic hand interface 2A-RZ375 앬 앬 앬 앬 앬 앬 앬 124657 27
Electric hand interface 2A-RZ364 129875 29
Curled connection cable 1A-GHCD 132101 29
1A-GR200-RP 앬 129778 29
Hand signal output cable 1S-GR35S-01 앬 앬 앬 153078 29
1S-GR35S-02 앬 앬 166272 29
1A-HC20 129877 29
1A-HC200-RP 앬 129779 29
Hand signal input cable
1S-HC35C-02 앬 앬 앬 앬 앬 166273 29
1S-HC25C-01 앬 앬 앬 앬 앬 153079 29
Gripper output connector R-SMR-09V-B 앬 132112 29
Gripper input connector R-SMR-10V-N 앬 132113 29
034-036.prn 34
????
Montag, 11. Oktober 2010 17:54:12
GENERAL OVERVIEW ///
Option Marking RV-2SD RV-3SDJB/3SDB RV-6SD/6SDL RV-12SD/12SDL RH-6SDH RH-12SDH/18SDH RP-1/3/5AH Art. no. See page
Robot model name in catalogue — SD SD SD SD SDH SDH AH — —
Valve input connect R-SMR-02V-B 앬 143798 29
Hand signal output connector S-series Hand OUTPUT 앬 앬 앬 앬 앬 164814 29
Hand signal input connector S-series Hand INPUT 앬 앬 앬 앬 앬 164815 29
Valve connection cable RV-E-1E-GR35S 앬 47391 29
RV-E-1E-ST0402C 앬 앬 앬 앬 47390 30
Hand curl tube
RV-E-1E-ST0404C 앬 앬 앬 앬 47389 30
Cable Flex 5 m 앬 149006 30
Flexible drag chain cable
Cable Flex 15 m 앬 149010 30
1S-05CBL-01 앬 앬 앬 155827 31 3
1S-10CBL-01 앬 앬 앬 155830 31
앬 앬 앬
ACCESSORIES
Extension cable for fixed installation 1S-15CBL-01 155665 31
in a drag chain 1S-05CBL-03 앬 앬 앬 165967 31
1S-10CBL-03 앬 앬 앬 165968 31
1S-15CBL-03 앬 앬 앬 165969 31
1S-05LCBL-01 앬 앬 앬 157582 31
1S-10LCBL-01 앬 앬 앬 157583 31
Extension cable for flexible installation 1S-15LCBL-01 앬 앬 앬 157594 31

in a drag chain 1S-05LCBL-03 앬 앬 앬 165970 31
1S-10LCBL-03 앬 앬 앬 165971 31
1S-15LCBL-03 앬 앬 앬 165972 31
PC connection cable RV-CAB4 앬 55653 32
2A-CBL05 앬 47387 32
2A-CBL15 앬 59947 32
Connection cable for I/O interface
2D-CBL05 앬 앬 앬 앬 앬 앬 218857 32
2D-CBL15 앬 앬 앬 앬 앬 앬 218858 32
Extension box CR1-EB3 앬 129878 32
Calibration device RV-E-1E-INST 47388 32
Adapter cable TB-2D-28CON05M 앬 앬 앬 앬 앬 앬 218863 32
Calibration pin 6 mm Tool 앬 앬 앬 앬 앬 155831 32
Calibration pin 8 mm Tool 앬 앬 앬 155832 32
A6BAT 앬 앬 앬 앬 앬 앬 앬 4077 33
Batteries ER6BAT 앬 앬 앬 앬 앬 앬 앬 131168 33
Q6BAT 앬 130376 33
034-036.prn 35
????
Montag, 11. Oktober 2010 17:54:15
/// MELFA-BASIC IV
왎 MELFA-BASIC IV/V Programming
Easy-to-Learn MELFA-BASIC IV/V Despite its simplicity and short learning Programming
Programming Language curve, MELFA BASIC IV/V is a powerful
Robot programs are written with the
language that can be used to create very
Mitsubishi robots are controlled with MELFA BASIC IV/V instructions with the
complex robot programs.
programs written in the powerful MELFA help of a PC and the teaching box.
BASIC IV/V programming language. This In addition to controlling simple move- The positions are defined with the
language is based on standard BASIC, ment sequences this high-level language teaching box and the actual program
which makes it very easy to learn. In addi- can also perform complex calculations is written on the PC.
tion to the familiar standard BASIC instruc- without having to access a connected PC.
Programs are written using the RT Toolbox2
tions and constructs like FOR … NEXT and This is made possible by a comprehensive
programming and project managing soft-
GOTO, MELFA BASIC IV/V also has some library of integrated functions, including
ware or the CIROS programming software
extensions required for robots, including trigonometry functions.
for industrial robots. You can find more
additional data types, instructions for You can store up to 88 programs in the con- information about the programming
movement and gripper control and I/O troller, in the D-Controller even 256, and software on page 36 and 37.
instructions. The familiarity of standard manage up to 256 inputs and outputs.
BASIC makes it easy for beginners to get Another powerful feature is 3D circular in-
started with robot programming. terpolation, which makes it possible to pro-
gram highly-complex processing sequences
in 3D space.
4
PROGRAMMIERSPRACHE
➝ : Robot movement Sample Program

앬 앪 : Movement position
P_SAFE The sample program below is for a
pick-and-place operation. The input signal
M_IN(8) tells the program that there is a
workpiece in position P1. When a work-
piece is present the input signal is set to
1 and the pick-and-place operation is per-
formed. The workpiece is picked up from
position P1 and deposited in position P2.
If no workpiece is present the robot
50 mm
50 mm
remains in the retracted position P_SAFE.
P1 P2
Pick workpiece Place workpiece
M_IN(8)
Pick-and-Place Program
10 MVS P_SAFE Move to safe position
20 IF M_IN(8) = 0 THEN 20 ELSE 30 Wait until input bit 8 is set
30 HOPEN 1 Open gripper 1
40 MVS P1, −50 Move longitudinally to a position 50 mm from P1 relative to the tool
50 MVS P1 Move to position P1
60 HCLOSE 1 Close gripper 1
70 DLY 0.2 Wait for 0.2 s to ensure proper closing of gripper
100 MVS P2 Move to position P2
110 HOPEN 1 Open gripper 1 and deposit workpiece
120 DLY 0.2 Wait for 0.2 s to ensure proper opening of gripper
140 IF M_IN(8) = 1 THEN 40 ELSE 150 If another workpiece is present repeat the pick-and-place operation
150 MVS P_SAFE If no workpiece is present return to safe position and end program
160 END Program end
034-036.prn 36
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Montag, 11. Oktober 2010 17:54:27
SOFTWARE ///
왎 RT Toolbox2
RT Toolbox2:
The RT Toolbox2 is the standard programming tool for every MELFA Robot. Besides Syntax
Highlighting, 3-D Robot View and a Program Manager the software offers structured Pa-
rameter settings, Monitor and Backup functions and a Position repair function. This helps
to recalculate the positions after displacing the robot or changing the gripper.
The Workspace structure allows connecting up to 12 robots simultaneously via
Ethernet-Network and displaying them in real time on just one PC.
Among the standard softwareversion 3D-12C-WINE there is also the software
3D-11C-WINE availible. This software has the additional ability to simulate the movement
of the robot in a 3-dimensional graphical display. Furthermore a special feature of this soft-
ware is, to display the cycle time of the movement at the end of the simulation. So you can
already optimize the program at your PC instead of optimizing at the real equipment.
SOFTWARE
Software 3D-12C-WINE 3A-11C-WINE
Supported robot models All
Language English, German, Italian, French
program editing All
monitor function All
parameter setting All
Functions program backup All
for robot program conversion From M/E/EN to NARC and Post NARC
models
remote maintenance All
(via modem)
position repair SD/SDH
maintenance forecast SD/SDH
Robot movement simulation No Yes
Calculation of the cycle time No Yes
Operating system Microsoft Windows 98/XP/2000/Vista
????
Montag, 11. Oktober 2010 14:10:46
/// SOFTWARE
왎 Network Vision Support Software
MELFA-Vision
MELFA-Vision is an easy to use application to set up Cognex-Vision sensors and MELFA
robot controllers. It supports you with a user friendly menu to set up the parameters on
the Vision sensor and the Robot controller within just a few mouse clicks. The easy calibra-
tion function that supports various camera installation positions, calibrates the Vision sys-
tem with the robot by only four positions. The Network vision job library helps the user to
set up a vision program that can detect moving and rotated parts with pattern matching
also at high speeds.
Through its Ethernet® connection interface it is possible to control one vision sensor by up
to three robot controllers. Special Network Vision commands reduces the efforts of robot
programming to a minimum by using just 3 commands to connect the vision sensor, trig-
ger the camera and to read out the detected positions.
Melfa Vision supports the Cognex In-Sight 5000-Series and the new Cognex In-Sight Micro
with the PatMax function.
Software MELFA-Vision V1.1.1.0

Supported robot models A/SD series
Language English
Description Network vision support software
Operating system Microsoft Windows XP/2000
5
SOFTWARE
왎 3D Simulation and Programming Tool
MELFA-Works
The 3D-CAD system SolidWorks® offers a wide range of construction tools. With the
add-on tool MELFA-Works it is possible to implement full functional CAD models of the
robots into your application and to simulate them.
The installation of designed hands or ATCs (Auto Tool Changers) and the use of external
in- and outputs offers the possibility to simulate applications close to reality. With the im-
plemented virtual controller and the use of robot parameters the calculation of tact times
reaches an unrivalled accuracy.
By using the workflow tool, a path can be calculated by only selecting the edge and the
corresponding surface and a complete movement program can be automatically gener-
ated. For transforming the virtual created path and positions into reality MELFA-Works
supports with an intelligent calibration tool by using only three positions. This offers also
an implemented interference check as well as a video function that saves moving applica-
tions into a video file.
Software MELFA-Works V2.2

Supported robot models SD series, RP series
Language English
Description 3D simulation and programming software
Operating system Microsoft Windows XP/2000, SolidWorks® 2004
????
Montag, 11. Oktober 2010 14:10:53
NOTES ///
????
Montag, 11. Oktober 2010 14:10:55
/// INDEX
A I
Accessories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Interfaces
Additional axis controller card . . . . . . . . . . . . . . . . . . . . . . 28 CC-Link · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 27
Articulated robot arms . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 I/O extension · · · · · · · · · · · · · · · · · · · · · · · · · · 28
electrical gripper · · · · · · · · · · · · · · · · · · · · · · · · 28
extension box· · · · · · · · · · · · · · · · · · · · · · · · · · 32
B Ethernet · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 27
Movement range pneumatic gripper· · · · · · · · · · · · · · · · · · · · · · · 28
RV-2SDB · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 9 PROFIBUS · · · · · · · · · · · · · · · · · · · · · · · · · · · · 27
RV-3SDJB, RV-3SDB · · · · · · · · · · · · · · · · · · · · · · 11 serial extension · · · · · · · · · · · · · · · · · · · · · · · · · 27
RV-6SD, RV-6SDL · · · · · · · · · · · · · · · · · · · · · · · · 13 additional axes · · · · · · · · · · · · · · · · · · · · · · · · · 28
RV-12SD, RV-12SDL · · · · · · · · · · · · · · · · · · · · · · 14 IP65 protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
RH-6SDH, RH-12SDH · · · · · · · · · · · · · · · · · · · · · 17
RH-20SDH · · · · · · · · · · · · · · · · · · · · · · · · · · · · 18
L
RP-1AH, RP-3AH, RP-5AH· · · · · · · · · · · · · · · · · · · 19
Long arm robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
C
M
Cable
MELFA-Vision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
for drag chains · · · · · · · · · · · · · · · · · · · · · · · · · 30
for grippers · · · · · · · · · · · · · · · · · · · · · · · · · · · 29 MELFA-Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
for power connections · · · · · · · · · · · · · · · · · · · · 31
for signal connections · · · · · · · · · · · · · · · · · · · · 31 O
for PCs and I/Os· · · · · · · · · · · · · · · · · · · · · · · · · 32
Options
Calibration device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Assignment · · · · · · · · · · · · · · · · · · · · · · · · · · · 34
CC-Link interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Overview· · · · · · · · · · · · · · · · · · · · · · · · · · · · · 22
Connection cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Controllers P
CR1, CR1D, CR2D and CR3D · · · · · · · · · · · · · · · · · 20 PC connection cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
specifications · · · · · · · · · · · · · · · · · · · · · · · · · · 21
Pneumatic gripper
interface · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 28
D specifications · · · · · · · · · · · · · · · · · · · · · · · · · · 23
Dimensions PROFIBUS interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
robot arms · · · · · · · · · · · · · · · · · · · · · · · · · · · · 9 Programing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
controller · · · · · · · · · · · · · · · · · · · · · · · · · · · · 21
R
E
Robot arms
Electric gripper
articulated robots · · · · · · · · · · · · · · · · · · · · · · · · 8
interface · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 28 SCARA robots · · · · · · · · · · · · · · · · · · · · · · · · · · 16
specifications · · · · · · · · · · · · · · · · · · · · · · · · · · 25
RT Toolbox2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Ethernet interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Extension cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
S
SCARA robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
G
Serial interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Gripper systems
Software
specifications · · · · · · · · · · · · · · · · · · · · · · · · · · 26
MELFA-Vison · · · · · · · · · · · · · · · · · · · · · · · · · · 38
connection cable· · · · · · · · · · · · · · · · · · · · · · · · 29
MELFA-Works · · · · · · · · · · · · · · · · · · · · · · · · · · 38
RT Toolbox2 · · · · · · · · · · · · · · · · · · · · · · · · · · · 37
H
Solenoid valve sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Hand sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
T
Teaching box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Tubes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
V
Valve connection cables . . . . . . . . . . . . . . . . . . . . . . . . . 29
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Montag, 11. Oktober 2010 14:10:58
MELFA Industrial robots /// MELFA Industrial robots /// MELFA Industrial robots /// MELF Automation solutions /// Automation solutions /// Automation solutions /// Automation
MELFA Industrial Robots A world of

automation solutions
Robots
robots have a surprisingly low total cost of ownership motors and transmissions for
at around 1.65/h per hour for both purchasing and maximum rigidity.
operation. Motion control and servos
Inverters
LV circuit protection
Laser machines

Drive transmission helps to
provide exceptional
repeatability performance.
More than
30,000 applications CNC
controllers HMI and GOTs

Mitsubishi’s small industrial robots have been
installed in over 30,000 applications in a huge diver- EDM machines
sity of fields. Micro PLCs
Modular PLCs
Mitsubishi offer a wide range of automation equipment from PLCs and HMIs to CNC and EDM machines
This is why you can rely on a Mitsubishi

first hand about the need for reliable, effi-
Since its beginnings in 1870, some 45 com-
Suitable for high-precision com- cient, easy-to-use automation and control
panies use the Mitsubishi name, covering
ponent placement with repeata- in our own factories.
a spectrum of finance, commerce and
bility performance of ±0.005 mm industry. As one of the world’s leading companies
and a cycle period of just 0.28 s.
with a global turnover of over 4 trillion
The Mitsubishi brand name is recognized
Yen (over $40 billion), employing over
around the world as a symbol of premium
100,000 people, Mitsubishi Electric has the
Intelligent design quality.
resource and the commitment to deliver
Mitsubishi Electric Corporation is active in the ultimate in service and support as well
The high performance of Mitsubishi’s robots is the The World’s first twin-arm SCARA as the best products.
space development, transportation, semi-
result of market-leading technology combined with robot with parallel structure for conductors, energy systems, communica-
intelligent, carefully-planned design. For example, maximum precision. tions and information processing, audio
locating pneumatic and wiring extensions directly in
visual equipment, home electronics, build-
the robot body reduces wiring complexity and costs.
ing and energy management and automa-
tion systems, and has 237 factories and
laboratories worldwide in over 121 countries.
2
Global Partner. Local Friend.
MELFA
Industrial Robots
Consistent Quality –
Precise Control
EUROPEAN BRANCHES EUROPEAN REPRESENTATIVES

MITSUBISHI ELECTRIC EUROPE B.V. GERMANY GEVA AUSTRIA Beijer Electronics OY FINLAND Beijer Electronics AS NORWAY INEA d.o.o. SLOVENIA GTS TURKEY ILAN & GAVISH Ltd. ISRAEL
Gothaer Straße 8 Wiener Straße 89 Peltoie 37 Postboks 487 Stegne 11 Bayraktar Bulvari Nutuk Sok. No:5 24 Shenkar St., Kiryat Arie
D-40880 Ratingen AT-2500 Baden FIN-28400 Ulvila NO-3002 Drammen SI-1000 Ljubljana TR-34775 Yukarı İSTANBUL IL-49001 Petah-Tiqva
Phone: +49 (0)2102/486-0 Phone: +43 (0)2252/85 55 20 Phone: +358 (0)207/463 540 Phone: +47 (0)32/24 30 00 Phone: +386 (0)1/513 8100 Phone: +90 (0)216 526 39 90 Phone: +972 (0)3/922 18 24
MITSUBISHIELECTRICEUROPEB.V. CZECH REPUBLIC Koning & Hartman b.v. BELGIUM UTECO A.B.E.E. GREECE SIRIUS T & S SRL ROMANIA Beijer Electronics AB SWEDEN CSC Automation Ltd. UKRAINE CBI Ltd. SOUTH AFRICA
Radlická 714/113a Woluwelaan 31 5, Mavrogenous Str. Aleea Lacul Morii Nr. 3 Box 426 4-B, M. Raskovoyi St. Private Bag 2016
CZ-158 00 Praha 5 BE-1800 Vilvoorde GR-18542 Piraeus RO-060841 Bucuresti, Sector 6 SE-20124 Malmö UA-02660 Kiev ZA-1600 Isando
Phone: +420 - 251 551 470 Phone: +32 (0)2/257 02 40 Phone: +30 211/1206 900 Phone: +40 (0)21/430 40 06 Phone: +46 (0)40/35 86 00 Phone: +380 (0)44/494 33 55 Phone: 27 (0)11/977 0770
MITSUBISHI ELECTRIC EUROPE B.V. FRANCE INEA BH d.o.o. BOSNIA AND HERZEG. AXICONT AUTOMATIKA KFT. HUNGARY INEA SR d.o.o. SERBIA Robotronic AG SWITZERLAND
25, Boulevard des Bouvets Aleja Lipa 56 (ROBOT CENTER) Reitter F. U. 132 Izletnicka 10 Schlachthofstrasse 8
F-92741 Nanterre Cedex BA-71000 Sarajevo HU-1131 Budapest SER-113000 Smederevo CH-8406 Winterthur
Phone: +33 (0)1/55 68 55 68 Phone: +387 (0)33/921 164 Phone: +36 1/412-0882 Phone: +381 (0)26/617 163 Phone: +41 (0 52) 26 70 200
MITSUBISHI ELECTRIC EUROPE B.V. ITALY AKHNATON BULGARIA ALFATRADE Ltd. MALTA CS MTrade Slovensko, s.r.o SLOVAKIA
Viale Colleoni 7 4 Andrej Ljapchev Blvd. Pb 21 99, Paola Hill Vajanskeho 58
I-20041 Agrate Brianza (MB) BG-1756 Sofia Malta-Paola PLA 1702 SK-92101 Piestany
Phone: +39 039/60 53 1 Phone: +359 (0)2/817 6004 Phone: +356 (0)21/697 816 Phone: +421 (0)33/7742 760
MITSUBISHI ELECTRIC EUROPE B.V. POLAND AutoCont C.S. s.r.o. CZECH REPUBLIC HIFLEXAUTOM.B.V. NETHERLANDS
Krakowska 50 Technologická 374/6 Wolweverstraat 22
PL-32-083 Balice CZ-708 00 Ostrava-Pustkovec NL-2984 CD Ridderkerk
Phone: +48 (0)12/630 47 00 Phone: +420 595 691 150 Phone: +31 (0)180 – 46 60 04
MITSUBISHI ELECTRIC EUROPE B.V. SPAIN B:ELECTRIC, s.r.o. CZECH REPUBLIC Koning&Hartmanb.v. NETHERLANDS
Carretera de Rubí 76-80 Mladoboleslavská 812 Haarlerbergweg 21-23
E-08190 Sant Cugat del Vallés (Barcelona) CZ-197 00 Praha 19 - Kbely NL-1101 CH Amsterdam
Phone: 902 131121 // +34 935653131 Phone: +420 286 850 848 Phone: +31 (0)20/587 76 00
MITSUBISHI ELECTRIC EUROPE B.V. UK Beijer Electronics A/S DENMARK
Travellers Lane Lykkegårdsvej 17
UK-Hatfield, Herts. AL10 8XB DK-4000 Roskilde
Phone: +44 (0)1707/27 61 00 Phone: +45 (0)46/ 75 76 66
Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany
Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// info@mitsubishi-automation.com /// www.mitsubishi-automation.com
Specifications subject to change /// Art. no. 203684-D /// 10.2010
All trademarks and copyrights acknowledged.

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Global Partner. Local Friend.

EUROPEAN BRANCHES EUROPEAN REPRESENTATIVES

MELFA Industrial Robots A world of

The high-precision Harmonic

Modern automation technology from Mitsubishi Elec-

This is why you can rely on a Mitsubishi

MELFA Industrial Robots

Internally-routed cables and

Seite Aus Umschlag feature reliably detects and

Compact and economical

Suitable for high-precision com-

A Complete Range The Powerful Compact Class

If you need to enlarge the robot workspace,

For high-precision positioning tasks Small, compact and Max. speed:

The MELFA range of robots includes a great 쐽 SCARA or articulated-arm construction

A Complete Range The Powerful Compact Class

If you need to enlarge the robot workspace,

For high-precision positioning tasks Small, compact and Max. speed:

The MELFA range of robots includes a great 쐽 SCARA or articulated-arm construction

Fast and Economical More Power and Reach

The RV-3SD gives users more flexibility for

The RV-3SDB at work in an EDM machine

Fast and Economical More Power and Reach

The RV-3SD gives users more flexibility for

The RV-3SDB at work in an EDM machine

Intelligent Design Superfast, Superprecise

This makes it one of the ultimate "pick &

Intelligent Design Superfast, Superprecise

This makes it one of the ultimate "pick &

Programming made Easy Fast and Easy Simulation

Using Mitsubishi RT ToolBox2 also provides tools for pro-

Programming made Easy Fast and Easy Simulation

Using Mitsubishi RT ToolBox2 also provides tools for pro-

Innovation in Movement Precision and Flexibility

The individual joints and axes of the robots

Innovation in Movement Precision and Flexibility

The individual joints and axes of the robots

Compact and High Functional A World of

CR1, CR1D, CR2D

/// RV-SD /// RH-SDH /// RP-AH

Technical Information Section

Further Publications within the Industrial Automation Range

System Q Family and FX Family

Low Voltage Switchgears

Further service supplies

About this product catalogue

© Mitsubishi Electric Europe B.V., Factory Automation - European Business Group

MELFA Industrial Robot Systems

/// MELFA INDUSTRIAL ROBOTS

MELFA - Industrial Robot Systems

For many years Mitsubishi Electric’s inno-

Broad Range of Products

The MELFA family includes a wide selec- RS-232C or

to powerful models that can handle up to

the RP-AH and RH-SDH series are designed RV-6S

Machining/providing Sealing Conveyor tracking

Production of electric devices Wafer transfer Deburring

AUTOMATION SOLUTIONS WITH PRECISION ///

Optional Network Capabilities

simple twisted-pair line.

The Profibus/DP network is particularly well suited for time-critical appli-

Practical Functions for all Applications

Linear path A Stack

Lathe chuck etc. Error